About the Depth

[jypjypjypjyp]

Hello, I've noticed that the calculation of the center of the Gaussian (mean) in the code is achieved by multiplying the direction by the depth.

origins, directions = get_world_rays(coordinates, extrinsics, intrinsics)
means = origins + directions * depths[..., None]

However, this is different from what I consider as depth. As shown in the figure below, I think the depth is the distance from the image plane to the camera (Z).

When I was running some experiments, I found that for the flat objects on the depth map, the point cloud according to the Gaussian center points showed an obvious curvature.

May I ask if this result is correct?