Physical Units for Depth Sensor

[mahnoor-fatima-saad]

Hi

I have collected a bunch of depth maps for MP3D scenes using:

depth_sensor_spec = habitat_sim.CameraSensorSpec()
depth_sensor_spec.uuid = "depth_sensor"
depth_sensor_spec.sensor_type = habitat_sim.SensorType.DEPTH
depth_sensor_spec.resolution = [settings["height"], settings["width"]]
depth_sensor_spec.position = [0.0, settings["sensor_height"], 0.0]
depth_sensor_spec.sensor_subtype = habitat_sim.SensorSubType.PINHOLE

depth_observations = np.array(sim.get_sensor_observations()["depth_sensor"])
depth_img_name = os.path.basename(scene_paths[i])+"_depth_"+str(l)+"_0.npz"
np.savez_compressed(os.path.join(depth_folder, depth_img_name), data=depth_observations)

It renders images nicely and I can view them without issues:

The issue is, for this particular example, the range of the raw depth observations is: 0-143. What do these units represent? Meters seem too large of a unit for the MP3D raw depth observations I have gathered.