timmh / socrates Goto Github PK

Hi Timm,

Thank you very much for your efforts to open source your dataset and codebase!

I am trying to load the precomputed depth in meters for the labelled images, but I'm not sure whether I do it correctly. The data doesn't seem do be depth directly, since the values don't fit at all (greater values for pixels closer to the camera):

data = cv2.imread("images/20220209150523_000090.exr", cv2.IMREAD_ANYCOLOR | cv2.IMREAD_ANYDEPTH)

plt.matshow(data)
plt.colorbar()

So I am assuming that the data is disparity in pixels. Converting to depth using the parameters from utils/prepare_distance_sampling.py looks more sensible, but a maximal distance of >200m seems to be quite far.

camera_baseline = 0.25  # meters
camera_horizontal_pixels = 1920  # pixels
camera_horizontal_sensor_size = 0.007564  # meters
camera_disparity_to_depth_factor = camera_focal_length * camera_baseline * camera_horizontal_pixels * camera_horizontal_sensor_size ** -1

plt.matshow(camera_disparity_to_depth_factor / data)
plt.colorbar()

It would be super helpful if you could add a code snippet showing how to correctly load the precomputed depth data.

Thank you,
Matthias