About depth image of Replica

[wonderingtom]

Thank you for your remarkable work!
Could you please tell me the unit type of your depth map, for example m, cm or mm.
This is the numpy matrix for ./Datasets/Replica/room0/results/depth000064.png

[[10848 10861 10875 ... 15886 15886 15887]
[10848 10862 10876 ... 15944 15945 15946]
[10849 10862 10876 ... 16003 16004 16005]
...
[ 7771 7770 7769 ... 15998 15998 15999]
[ 7765 7763 7762 ... 15958 15958 15958]
[ 7758 7756 7755 ... 15918 15918 15918]]

Fathermore, I'm new to indoor reconstruction,would you like to tell me how are your depth maps defined?

Thank you!

[Zihan Zhu]

Thanks for your interest in our work.
There is a config file in the Replica dataset from the iMAP authors. Usually, for a png depth image, the value needs to be divided by a certain value e.g. 1000 or 65535 to be transformed to m.