Comments (1)
I have made some progress on this. Below I have attached a video where I inspect different depths in the image. The depth is shown in the bottom right. Objects closer have smaller depth values (as we expect). The closer to the drone, the darker the object (as they have smaller depth images).
their_depth.mp4
Mine was opposite (which is incorrect). Turns out MiDaS produces inverse depth maps, which explains why here you can see how the floor further-est away has the smallest depth value.
mydepth.mp4
So I realize that mine is inverted and needs to be fixed. However I am still not sure how your approach handles having a floor (as in your simulation demo, the floor is rendered as 0).
from ego-planner-swarm.
Related Issues (20)
- catkin_make
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from ego-planner-swarm.