|
|
|
|
|
# Depth Quality Tool
|
|
|
|
|
|
|
|
|
|
|
|
<p align="center"><img src="https://raw.githubusercontent.com/wiki/IntelRealSense/librealsense/res/depth-quality-glimpse.gif" /></p>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
## Overview
|
|
|
|
|
|
|
|
|
|
|
|
This application allows you to test the camera’s depth quality, including: Z-Accuracy, Sub-Pixel and Z RMS errors (spatial noise) and Fill Rate.
|
|
|
|
|
|
You should be able to easily get and interpret several of the depth quality metrics, or record and save the data for offline analysis.
|
|
|
|
|
|
<br>Please refer to [RealSense DepthQualityTesting White Paper](https://www.intel.com/content/dam/support/us/en/documents/emerging-technologies/intel-realsense-technology/RealSense_DepthQualityTesting.pdf) for further information.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
## Quick Start
|
|
|
|
|
|
* Position the depth camera within a range of 0.3 - 2 meter from a flat non-reflective surface.
|
|
|
|
|
|
* Aim the camera to the target and hold it steady for several seconds till the tool is able to recognize the surface (the yellow grid in 3D view).
|
|
|
|
|
|
* Adjust the camera using the "Angle" metric to minimize the skew and make it as perpendicular to the surface as possible.
|
|
|
|
|
|
* Inspect the calculated depth quality metrics, expand the metric properties to get more in-depth info.
|
|
|
|
|
|
* In order to get Z-Accuracy, enable the "Ground Truth" field in UI and modify it with the value obtained/measured with external tools
|
|
|
|
|
|
* Click on "Start_record" to collect both the metrics and the raw data for offline analysis.
|
|
|
|
|
|
|
|
|
|
|
|
## Features
|
|
|
|
|
|
* 2D/3D Depth View
|
|
|
|
|
|
* Plane Fitting - using reconstructed surface
|
|
|
|
|
|
* User-defined Region of Interest
|
|
|
|
|
|
* Depth Quality metrics:
|
|
|
|
|
|
* Z-Accuracy
|
|
|
|
|
|
* Spatial Noise:
|
|
|
|
|
|
* Plane Fit RMS Error
|
|
|
|
|
|
* Sub-Pixel RMS Error
|
|
|
|
|
|
* Fill-Rate
|
|
|
|
|
|
* Distance to target
|
|
|
|
|
|
* Export metrics and device configuration
|
|
|
|
|
|
* Depth Sensor controls
|
|
|
|
|
|
|
|
|
|
|
|
## Depth Metrics elaborated
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### Fill Rate
|
|
|
|
|
|
the percentage of valid (non-zero) pixels within the user-defined Region of Interest (ROI) area.
|
|
|
|
|
|
|
|
|
|
|
|
### Distance To Target
|
|
|
|
|
|
estimated distance to an average within the ROI of the target (wall) in mm.
|
|
|
|
|
|
_N_ - Normal of the fitted plane
|
|
|
|
|
|
_P_ - Center of ROI(centroid)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### Plane Fit RMS Error
|
|
|
|
|
|
the metrics represents depth pixels deviation from the calculated Plane Fit.
|
|
|
|
|
|
_Dist<sub>i</sub>_ - Distance from depth pixel coordinates to the Plane Fit (mm).
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### Sub-Pixel RMS Error
|
|
|
|
|
|
_Z<sub>i</sub>_ - Depth value of i-th pixel in the ROI (mm)
|
|
|
|
|
|
_ZP<sub>i</sub>_ - Depth value of the i-th pixel projected onto the plane fit (mm)
|
|
|
|
|
|
_BL_ - Stereoscopic Baseline (mm)
|
|
|
|
|
|
_FL_ -Focal Length as a multiple of pixel width (pixels)
|
|
|
|
|
|
_D<sub>i</sub>_ - Disparity value of i-th pixel in the ROI (pixel)
|
|
|
|
|
|
_DP<sub>i</sub>_ - Disparity value of i-th plane-projected pixel (pixel)
|
|
|
|
|
|
|
|
|
|
|
|
 
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
### Z Accuracy
|
|
|
|
|
|
|
|
|
|
|
|
_RotationPivot<sub>x,y,z</sub>_ - Intersection point between the center of the depth censor's ROI and the Fitted Plane
|
|
|
|
|
|
_PlanesOffset<sub>mm</sub>_ - Distance (signed) from the Fitted to the Ground Truth planes (mm)
|
|
|
|
|
|
_D<sub>i</sub>_ - Distance (signed) from a depth vertex to the Fitted Plane (mm)
|
|
|
|
|
|
_D'<sub>i</sub>_ - Z-error: Distance (signed) from the rotated _D<sub>i</sub>_ coordinate to the Ground Truth Plane (mm)
|
|
|
|
|
|
_GT_ - Ground Truth distance to the wall (mm)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<!---
|
|
|
|
|
|
Math expressions generated with
|
|
|
|
|
|
http://www.numberempire.com/texequationeditor/equationeditor.php
|
|
|
|
|
|
{D}_{i}=\frac{BL\times FL}{{Z}_{i}}
|
|
|
|
|
|
{DP}_{i}=\frac{BL\times FL}{{ZP}_{i}}
|
|
|
|
|
|
RMS = \sqrt{\frac{\sum_{1}^{n}{\left({D}_{i} -{DP}_{i}\right)}}{n}^{2}}
|
|
|
|
|
|
AVG = \frac{\sum_{1}^{n}{\left({Dist}_{i}\right)}}{n}
|
|
|
|
|
|
STD = \sqrt{\frac{\sum_{1}^{n}{\left({Dist}_{i}\right)}}{n}^{2}}
|
|
|
|
|
|
ACC = 100 \times median(\frac{\sum_{1}^{n}{\left({Z}_{i}\right - GT)}}{GT})
|
|
|
|
|
|
{D'}_{mm}={D}_{i} -{Planes Offset}_{mm}
|
|
|
|
|
|
Z-Accuracy = 100 \times median(\frac{\sum_{1}^{n}{\left({D'}_{i}\right - GT)}}{GT})
|
|
|
|
|
|
--->
|
