Can you please tell me how to figure out the actual depth value(in metres or centimeteres) at any (x,y) coordinate of the image that is being predicted by the model?

[shreyash0502]

How to convert the pixel value to depth? What is the formula for that? I want to get the depth of some object (in metres or centimetres) from the predicted depths given by the model.

[matteoTaiana]

Hi, I've been thinking about this as well.
For what I understand, each depth value is represented with 2 Bytes = 16 bits.
If you interpret that as one positive integer, you get a range between 0 and 65535 (these seem to be the values I get if I open the output images with PIL).
So I guess that we should map the numerical range we get to the known range in meters for a specific dataset. For example, the KITTI data has a range between 0 and 80 meters. So to go from the pixel value to the depth, I would use this formula:
metric_depth = (pixel_value * 80) / 65535.

But this is only a guess. Anyone of the authors can confirm or refute my guess, please?

[Zhangwenyao1]

65535

But the max value of kiiti depth is 255, then the metric depth would be less than 1m, is this true?