如何测量深度距离？ [英] How depth distances are measured?

问题描述

我在深度数据准确性方面苦苦挣扎。我想查看一下我从传感器获得的信息。

我做了什么把传感器放在地板上 与墙壁平行，距离为82cm。然后我检查第240行中每个像素的深度。

然后我运行了大约12000帧的测试然后我检查了每个像素的平均距离像素。这是我得到的：

因为设备与完全 平行于墙我希望这条线也是完全水平的。但事实并非如此。

或者，我考虑了另一个系统，其中从相机到特定点测量深度。这可以解释为什么距边缘较近的点的距离比中间的距离长。但这也不是一个例子。在
屏幕的中间，到墙的真实距离是~820mm而在像素1处（大多数左边是图片上的一个，实际上是最右边的），距离是~920mm。这相差约100毫米。然而，图片显示
最高值与最小值之间的差值约为40mm。

您能解释深度数据的工作原理吗？

谢谢，

Grzegorz

解决方案

 

您应该看一下Kinect上的那篇论文v2几天前发布：

http://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XL-5-W4 /93/2015/isprsarchives-XL-5-W4-93-2015.pdf

相机给出的深度不是从相机中心到点的距离，而是相机参考框架中的z坐标： 

https://msdn.microsoft.com/en-us/library/dn785530.aspx

本

I'm struggling with depth data accuracy. I wanted to check what I get from sensor.

What I did I put sensor on a floor perfectly parallel to the wall in distance of 82cm. Then I check a depth for each pixel in row 240.

Then I ran a test for ~12000 frames and then I checked an average distance for each pixel. Here's what I got:

Because the device was put perfectly parallel to the wall I would expect the line to be perfectly horizontal too. But it's not a case.

Alternatively, I considered another system where depth is measured form the camera to a specific point. That would explain why distances to points that are closer to edge are longer than those in the middle. But this is not a case either. In the middle of screen, the real distance to wall was ~820mm while at pixel 1 (most left one on the picture and the most right in reality) the distance was ~920mm. That makes a ~100mm difference. However, the picture shows that a difference between the highest and the smallest value is around 40mm.

Can you please explain how the depth data works?

thanks,
Grzegorz

解决方案

Hi, 

You should have a look at that paper on Kinect v2 which came out a couple of days ago:

http://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XL-5-W4/93/2015/isprsarchives-XL-5-W4-93-2015.pdf

The depth given by the camera is not the distance from the camera center to a point, it is the z coordinate in the camera reference frame: 

https://msdn.microsoft.com/en-us/library/dn785530.aspx

Ben

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