Datasets:
Depth images sometimes "weird"
I am working on scene 2. I have the strong belief that someone normalized the depth images to range 0-65536 (uint16 range) to somehow make them visualizable as pngs. I understand you use millimeters, but yet again, in some sequences (again in my case scene 2) the objects of interest (green drillers) are full of zeros... and far away there are regions with 65530 or so values. Is this expected or did you apply any mapping to the depths? I have to admit that this does not happen in all images, in the same sequence some images have maximum values of 20000 or so...
Hi,
I looked into scene 2 (train split) and can confirm that those depth image ranges are expected. The large values in some images depict the building background, which is at a significant distance.
Regarding the zeros you mentioned: these occur because some of the images were taken very close to the objects. The sensor on the Intel RealSense camera we used only starts recording depth data from about 0.5 meters away. Therefore, any zeros simply represent "no data" from the sensor in some images.
In general, the images are encoded as uint16, where every pixel value corresponds to millimeters (depth scale = 1).
I hope this helps! Please let me know if you have any other questions.