Image reconstruction quality on kitti

[TWJianNuo]

Hi! I try to reconstruct image at Frame T using image at Frame T+1. However, the visualization seems odd.

Here is how I do the reconstruction:
Set D, RgbT, RgbT+, PoseT, PoseT+ as predicted depth(unscaled), input Rgb at frame T, input Rgb at fram T+1, Pose predicted at T, Pose predicted at T+1.

Then:
1. pts3d = backproject(Depth)
2. pts3d_at_frameT+1 = PoseT+ * inv(PoseT)
3. pts2d_at_frameT+1 = project(pts3d_at_frameT+1)
4. grid sample

However, below is a visualized reconstruction at 2011_10_03_drive_0027_0000000799.png. First row is original input, second row is reconstructed rgb, third row is flow visualizion:

I notice an obvious lack of scale in the reconstruction, it is general for other sequences. The pose I used come from Depth prediciton process(the pose results from eval_kitti scipt.). Ideally, the left corner car's position should not move since it is static.