Is depth in millimeters?

[skoppula]

Hi,

Thanks for the useful work on this dataset!

I was wondering about the scale of the depth maps provided in the dataset, specifically the depths/*.png files. It seems that when reading out (e.g. https://github.com/aharley/pips2/blob/master/datasets/pointodysseydataset_3d.py#L172, https://github.com/y-zheng18/point_odyssey/blob/main/utils/reprojection.py#L88) you scale based on the uint16 range, and then multiply by 1000.

Is this to get the depth of each pixel in millimeters, as distance from the camera?

All the best,
Skanda

[y-zheng18]

i think the depth is in meters :)