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I used to use kinect v2,it's depth data means the depth of a vertical plane which the pixel belong to.
Dose Realsense work the same way?
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From my testing so far, a raw depth value is the distance from the point in the scene to the pixel on the image sensor (or equivalent sensing model, when using stereo vision) . I don't think the raw values are perpendicular to the X-Y plane, only after calibration is that true. Until you calibrate, you have to deal with the camera perspective/projection.
On the R200 I then get the device's calibration info and use a StreamCalibration and the Projection class to convert this raw depth to a proper world coordinate XYZ in floating point millimeter units values. This is still with reference to the camera frame - if you wanted a static world reference you would need to find/make the transform between camera and world frame, especially if the camera is moving.
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From my testing so far, a raw depth value is the distance from the point in the scene to the pixel on the image sensor (or equivalent sensing model, when using stereo vision) . I don't think the raw values are perpendicular to the X-Y plane, only after calibration is that true. Until you calibrate, you have to deal with the camera perspective/projection.
On the R200 I then get the device's calibration info and use a StreamCalibration and the Projection class to convert this raw depth to a proper world coordinate XYZ in floating point millimeter units values. This is still with reference to the camera frame - if you wanted a static world reference you would need to find/make the transform between camera and world frame, especially if the camera is moving.
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You get the distance form the camera plane, i.e., perpendicular distance, not a straight line from the object to the camera lens.(is that what you meant?)
So if you had a completely flat object exactly perpendicular to the camera, the depth value should be constant across the face of the object (though in reality it's a bit wobbly due to errors)
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Depth returned is the Z component of the 3D point with origin in the depth camera's optical center.
In other words, distance to the XY plane, not distance to the center of the camera.
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Thank you all, it helps a lot.
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