Depth output

[stalkerrush]

Hi,

May I know whether the depth in the demo correspond to the z value in camera coordinates or the length of the ray hitting the surface? I also see you distinguish between z-buffer depth and Euclidean depth, would you mind elaborate a bit on the difference between them?

Thanks!

[jingyibo123]

Euclidean depth is the ray distance from point to camera center
z-buffer depth is the point to plane distance from point to camera Z-plane
I think in the SLAM community the former is often called 'distance', the latter 'depth'.