Depth loss is negative

[YZsZY]

Hello and thank you for your great work! I noticed that the paper is using GaussianNLLLoss to satisfy the true sampling distribution as much as possible, as this formula shows:

But I find that this loss is always negative, is this as expected?

Also I would like to ask, have you tried to do MSE loss directly on the rendered depth map with the GT depth?

Sorry to bother you and look forward you for your reply!

[barbararoessle]

Hi, due to the logarithm, the depth loss can be negative, so that is ok.
We have ablations (named w/o GNLL) using MSE instead of GNLL in the paper, however they equally use the depth predicted by the depth completion (not the ground truth depth from the sensor).