Comparing input depth and output result's depth (at query time)

[Jaewon040]

Hi, thanks for your great work. it really gives me a intuitions.
I have a question that does tracking points on query frame has exact same depth with input depth? I thought it would be, but as i see the result, depth on results are seems to be different with input depth (i use my own depth map. not megaSAM or else).
Does 3d points on query frame are adjusted after unprojection with camera parameters and input depth?
Thank you in advance!

[zbw001]

There could be minor differences, since the 3D points are updated by the model during tracking. However, these differences should be mostly small.