About the difference between fg_depth and depth

[sinsin1998]

fg_info = img_metas[sample_idx]['foreground2D_info']
fg_pxl = fg_info['fg_pixels'][view_idx]
fg_depth = torch.from_numpy(fg_pxl[:,2]).to(device) in line 207 in MSMDFusionDetector
and
fg_real_pixels = img_metas[i]['foreground2D_info']['fg_real_pixels']
depth = fg_real_pxl[:,2]

code above shows that you have use two depth information in the generation of foreground2D, could you tell me the deffrence between them ?

[SxJyJay]

"fg_pxl" corresponds to the location of seeds sampled in MDU. "fg_real_pixels" corresponds to the locations of projected lidar points. Here, locations are represented in the form of (u, v, d), where u and v are pixel coordinates and d is the depth.