What is the actual meaning of depth = rendering[6, :, :]?

[booker-max]

"Hello, I have real LiDAR depth data that can be used for network supervision, but I found some issues when directly using LiDAR to supervise depth = rendering[6, :, :]. It seems that render_depth is not the true depth. I have two questions:

1. What is the actual meaning of depth = rendering[6, :, :]?
2. How should real LiDAR data be used to supervise this depth?"

[niujinshuchong]

Hi, the depth is the ray-Gaussian intersection. It is the median depth when the accumulated blending weights for a pixel excel 0.5.

You can simply use a L1 loss if you can compute the depth of a pixel from your LiDAR data.