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OPEN-AIR-SUN / mars

MARS: An Instance-aware, Modular and Realistic Simulator for Autonomous Driving
Apache License 2.0
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Error on depth estimation #157

Open nicetryzz opened 1 month ago

nicetryzz commented 1 month ago

I have test the KITTI-MOT 0006 Reconstruction config. The depth estimation is similar with the Wandb log provided. The estimated depth is different from the mono depth. depth

JiantengChen commented 1 month ago

Hi! @nicetryzz

Thanks for your reply. Issue #92 might help. FYI.

nicetryzz commented 1 month ago

Thanks for your quick replay. I think utilize the sky weight on depth loss calculation is a good idea. By the way, I have two more questions:

  1. Does it reasonable to select rays from different images to calculate mono loss? Different image mono depth esitimate might have different scale and shift.
  2. I notice that scale_factor is set to 0.1. Also while calculate monosdf_depth_loss, a scale and shift is applied on termination_depth. Does it necessary？