Comments (3)
I think the problem is how you used depth. The depth you acquired from model is depth distribution and you just used the distribution to compute depth metrics.
from bevdepth.
I think the problem is how you used depth. The depth you acquired from model is depth distribution and you just used the distribution to compute depth metrics.
What is the correct method to calculate the depth metrices?
from bevdepth.
This will get you the depth prediction values.
depth_preds = (depth_preds * torch.arange(0, self.depth_channels, device="cuda")[None, None, :]).sum(2)
depth_preds = (depth_preds + 0.5) * self.dbound[2] + self.dbound[0]
from bevdepth.
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from bevdepth.