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cvg / nice-slam

[CVPR'22] NICE-SLAM: Neural Implicit Scalable Encoding for SLAM
https://pengsongyou.github.io/nice-slam
Apache License 2.0
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About depth image of Replica #108

Closed wonderingtom closed 9 months ago

wonderingtom commented 9 months ago

Thank you for your remarkable work! Could you please tell me the unit type of your depth map, for example m, cm or mm. This is the numpy matrix for ./Datasets/Replica/room0/results/depth000064.png

[[10848 10861 10875 ... 15886 15886 15887] [10848 10862 10876 ... 15944 15945 15946] [10849 10862 10876 ... 16003 16004 16005] ... [ 7771 7770 7769 ... 15998 15998 15999] [ 7765 7763 7762 ... 15958 15958 15958] [ 7758 7756 7755 ... 15918 15918 15918]]

Fathermore, I'm new to indoor reconstruction,would you like to tell me how are your depth maps defined?

Thank you!

Zzh2000 commented 9 months ago

Thanks for your interest in our work. There is a config file in the Replica dataset from the iMAP authors. Usually, for a png depth image, the value needs to be divided by a certain value e.g. 1000 or 65535 to be transformed to m.