Query regarding Scannet dataset config

[Ramseyous0109]

Hi, I've found a small bug on the config of Scannet Dataset In configs/data/scannet.yaml

dataset_name: 'scannet'
camera_params:
  image_height: 968
  image_width: 1296
  fx: 1169.621094
  fy: 1167.105103
  cx: 646.295044
  cy: 489.927032
  png_depth_scale: 1000.0

This intrinsic data refers to the original color images' shape. However, since the color image should be cropped to 640 × 480 to fit the size of the depth data, I think the intrinsics should also be changed as the config in NICE-SLAM to get correct results.

cam: 
  H: 480 
  W: 640
  fx: 577.590698
  fy: 578.729797
  cx: 318.905426
  cy: 242.683609
  png_depth_scale: 1000. #for depth image in png format

I wonder if I get this config right. Looking forward to your reply@