Predicted plane parameters about planercnn

[vevenom]

Oh, I didn't consider you might be using this exact coordinate system, you are right. So my coordinate system is:

X faces right,
Y faces up,
Z faces front

Anyways it works after transforming your plane parameters to my coordinate system like this:
[X, -Z, Y]

Than you can use the formula from the original post (without 'minus') to get quality depth map:

Z = ((d (K^(-1) u ) [3]) / (n^T ((K^(-1) u ))

Thanks for your assistance, I have one more question. One alternative is to generate plane parameters from depth predictions and plane masks with SVD, similar to what you did for generating ground truth planes. Have you tried this experiment and if yes, have you observed any benefits of using plane predictions instead of this 'direct' approach?

[art-programmer]

Your equation seems correct. But I might have used a different coordinate system. Y faces the front of the camera, X faces right of the camera, and Z faces downwards.

The depth maps for all planes can be computed using this function.

planercnn/utils.py

Line 439 in e773eb3

def calcPlaneDepths(planes, width, height, camera, max_depth=10):

You can then compute the final depth map based on the plane depth maps with plane masks.