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uzh-rpg / agile_flight

Developing and Comparing Vision-based Algorithms for Vision-based Agile Flight
MIT License
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Q: Depth camera tranformation? #52

Open fudavd opened 2 years ago

fudavd commented 2 years ago

Hello,

I'm having a hard time relating the output of the depth camera to real world coordinate space (x,y,z in meters)? Could you help me out interpreting the 8Bit image a bit by explaining the transformations under the hood. For example does the depth scale linearly, is the value a projected line onto the camera plane or straight towards the camera position etc.

Thank you, Fuda

nmharmon8 commented 2 years ago

This is the few references I have seen in the flightmare docs that have todo with depth images.

Depth is not linear Depth has information loss The terrain does not show in the depth image