What is the metric of depth image and camera pose ?

[michaelyuancb]

Hi, thanks for the great work. I'm trying to recover the pointclouds sequence of the original videos. However, I find that I could not align the pointclouds according to the annotations *"pkl" file) and the depth images ("png" file).

Could you please tell me the metric of the depth map (e.g. depths = Image.open("00000.png") / 10000.0) ? Should I divide the depth map read by 10000.0 or some other value ?

[BatFaceWayne]

Hi, you could use depths = np.array(Image.open("00000.png")) / 5000) to load depth image in meters. Thanks for pointing this out and I would update the description.

[michaelyuancb]

Really thanks for your help. The problem solved.