Notes taken from Cyrill Stachniss.

How do you actually pad your image? Do you just use an image with the same intensity?

I learned some of this from Andrew Ng. But he didn’t cover in depth. I thought it was just repeating the same values.

Padding Options

  • constant value: for all outside pixels
  • cyclic wrap: loop “around” the image
  • clamp: repeat edge pixels indefinitely
  • mirror: reflect pixels across the image edge