how to calculate the real world distance value from the camera to object about monodepth2 HOT 4 CLOSED

Hi,

You can take a look here for how depth is computed from our predicted scaled disparity:
https://github.com/nianticlabs/monodepth2/blob/master/evaluate_depth.py

Roughly speaking, to compute real-world depth from the network prediction:

output = depth_decoder(encoder(input_color))
pred_disp, _ = disp_to_depth(output[("disp", 0)], 0.1, 100)
pred_depth = 5.4 / pred_disp

(But all of @mrharicot 's caveats remain about focal length and image size and ratios etc)

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Hi,
There isn't a good answer for this I am afraid.
The network was trained for a specific focal and image ratio. If we evaluate on a different ratio and focal we can't really predict what the network will do.
You can start by assuming that the network will predict the same scale as on KITTI which for our models trained with stereo supervision is 5.4

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Thanks for reply Can you tell what do mean that stereo supervision is 5.4 and also can you provide the camera configuration or kitti config like focal ,ratio

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Thanks

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