D435深度图的焦点在哪里？

Hellosmirkingman，感谢您对英特尔实感D435相机的兴趣。深度中心无法准确计算，因为视野是传感器的重叠。
您也可以在数据表上找到此信息，第56页，第59页，您可以看到深度起点位于距前盖玻璃-4.2mm处。
这意味着深度起始点距离它是20.85mm。您还可以检查RealSense中的投影 - 点坐标以获得有关此事的更多有用信息。如果我能提供任何其他信息，请告诉我。最好的问候，Eliza



以下为原文

Hello smirkingman,

Thank you for your interest in the Intel RealSense D435 camera. 

The center of the depth can't be calculated exactly, as the filed of view is the overlap of the sensors. You can also find this information on the datasheet, page 56 

At page 59, you can see that the Depth Start Point is located at -4.2mm from the Front Cover Glass. This implies that the Depth Start Point is at 20.85mm from it. 

You can also check the Projection in RealSense - Point Coordinates for more useful information on this matter. 

Please let me know if I can provide any other information.

Best regards,
Eliza

谢谢Eliza的简明回复。
我正在阅读文档的337029-002版本，你提到的部分已添加到337029-003中，这很棒。
也就是说，我凭经验发现深度起点（Z'）在我D435后面的玻璃后面约11mm而不是4.2mm（我花了几个小时平均数万次测量，我可能是一毫米左右，但是
不是7毫米）。
“深度的中心无法准确计算”让我感到困扰。
使用深度相机生成点云，其中云中的点之间的距离仅适用于3D建模，但对于机器人应用，如果人们不知道原点的确切位置，则点云无用 - 车辆看到
点云，但不知道它在车辆的参照系中有多远。
我认为“由于校准难以确定深度的中心”，但如果精确确定原点的程序已经公布，那将会非常有用。



以下为原文

Thank you Eliza for the concise reply.
I was reading the 337029-002 version of the document and the section you mention was added in 337029-003, which is great.
That said, I empirically find the depth start point (Z') to be ~11mm behind the glass on my D435 and not 4.2mm (I have spent hours averaging tens of thousands of measurements and I might be a millimetre or so  off, but not 7mm).
 
"The center of the depth can't be calculated exactly" bothers me somewhat.
Using a depth camera to generate point clouds where solely the the distances between the points in the cloud is fine for 3D modelling but for robotics applications a point cloud is useless if one doesn't know the exact location of the origin - the vehicle sees a point cloud but doesn't know how far away it is in the vehicle's frame of reference.
That the "center of the depth is difficult to ascertain because of calibration" I can accept, but it would be really helpful if the procedure to precisely determine the origin were published.

Hellosmirkingman，你能告诉我们你是如何根据经验计算深度起点吗？另外，如果你对生成点云感兴趣，你可以使用以下命令：https：//github.com/IntelRealSense/librealsense
/wiki/Projection-in-RealSense-SDK-2.0#point-cloud谢谢你，Eliza



以下为原文

Hello smirkingman,

Could you please let us know how you have calculated, empirically, the Depth Start Point? 

Also, if you are interested in generating a point cloud, you can use the commands from: https://github.com/IntelRealSense/librealsense/wiki/Projection-in-RealSense-SDK-2.0#point-cloud 

Thank you,
Eliza

嗨伊丽莎，
谢谢你的后续行动。
由于Z错误问题似乎与我的其他问题https://communities.intel.com/message/563508#563508密切相关，或许最好是我们继续那里并关闭这个帖子？



以下为原文

Hi Eliza,
thanks for the follow-up.
As the Z-error issue seems closely related to my other question https://communities.intel.com/message/563508#563508 perhaps it would be best if we continued there and close this thread?

Hellosmirkingman，当然可以！谢谢你，Eliza



以下为原文

Hello smirkingman,

Sure thing!
 
Thank you,
Eliza