render_pkg["median_depth"] with artifacts vs render_pkg["expected_depth"]

[maorp]

Hi, first thanks for the nice work! I'm trying to use the depthmap directly and i see this difference between "median_depth" and "expected_depth" - which is much smoother and with less jumps but has "tails" of points to the background. see images below:
(these are pointclouds created from the depthmaps)

[renhaofan]

@maorp Could you let me know the reason?

[maorp]

I still dont know for sure. It seems from the code that median depth is computed per pixel using ray intersection and not alpha blending. This creates a better multi view consistent depthmap but with those weird band jumps. Its not clear if its by design or its a bug.

[BaowenZ]

Hi, the depth remains continuous within a kernel but experiences jumps when the median kernel changes.

[maorp]

Thanks! Is there a way to control it or improve it? Im happy to help coding it if needed

[BaowenZ]

I can't think of a complete solution. However, the "stop the pop" proposed a better method to determine the order of kernels. Maybe it can improve the accuracy of median depth.