.. _monoculardepthestimation: Monocular Depth Estimation ========================== Estimate a relative depth map from a single RGB view. Input ----- One image set representing the camera view. A :ref:`camera calibration data component` on the input is required to build a point cloud (intrinsics for unprojection). Output ------ A relative depth map per frame. When **Export point clouds** is enabled and calibration is present, a point cloud is produced as well. The point cloud has the correct pinhole geometry but inherits the **relative** (non-metric) scale of the depth map — calibration does not convert it to absolute distances in millimeters. Description ----------- The algorithm computes a relative depth estimate from each image (typical display range [0, 255]). The backend is selected with **Depth estimator name** when several monocular depth models are available (for example learning-based estimators registered in the Suite). **Export point clouds** — when enabled, unprojects the relative depth map using camera intrinsics (and undistortion if needed). Requires camera calibration on the input; output scale remains relative, not metric. Streaming and live use ---------------------- For an offline image set, run the algorithm once on the full sequence. For a **live camera stream**, use :ref:`Monocular Stream Depth Estimation` instead. It processes each incoming frame continuously and keeps the depth map aligned with the color image for live point-cloud preview in the display. The same depth backend is used in both cases; the stream variant is intended for real-time preview rather than batch processing of a fixed image set.