感觉好像2d to 3d的project_image_to_rect(self, uv_depth)公式有点问题，希望解答

[dyou123]

MonoFlex/data/datasets/kitti_utils.py

Lines 356 to 357 in ec6da01

	x = ((uv_depth[:, 0] - self.c_u) * uv_depth[:, 2]) / self.f_u + self.b_x
	y = ((uv_depth[:, 1] - self.c_v) * uv_depth[:, 2]) / self.f_v + self.b_y

感觉公式好像有点问题，是不是应该这样写呀

x = (uv_depth[:, 0] - self.c_u * uv_depth[:, 2]) / self.f_u + self.b_x
y = (uv_depth[:, 1] - self.c_v * uv_depth[:, 2]) / self.f_v + self.b_y

[excitohe]

If calib.P2[2,3] is not considered, the original formula is correct.