Depth Coordinates Mismatch
Posted: 27 Jul 2017, 08:47
Hello,
I am trying to combine 2D and 3D depth information from a Vision Sensor but I noticed some strange mismatch between the collected coordinates. I give you an example of the data I collected and combined (the first number is just a line index, the 3 numbers after that are the x,y,z depth coordinates and the last one is the handle which I got from the 2D image):
9. -674.66896772385,-699.45961236954,-1499.9959468842,10
10. -434.63253974915,-452.66792178154,-970.74943780899,10
11. -432.64237046242,-452.66631245613,-970.74604034424,24
As you can see, these lines don't match because the depth information notices a "jump" from line 9 to 10 but the handle information gets the "jump" from line 10 to 11. I compared this behaviour with the 2D depth image of the Vision Sensor where the "jump" is also one line later than the depth coordinates suggest. This mismatch even propagates such that in the later lines there is a mismatch of 4 or 5 lines.
I'm collecting the depth coordinates by using the "Extract coordinates from work image"-Filter (after putting the original depth image into the work image). Is there maybe a way to look into this filter to understand how it is working and if this mismatch problem comes from the computation of the depth coordinates? Or is this some kind of bug?
I would really appreciate it if someone could have a look at this and give me a short reply on how to solve this problem.
Thanks a lot!
Best,
deepgrasp
I am trying to combine 2D and 3D depth information from a Vision Sensor but I noticed some strange mismatch between the collected coordinates. I give you an example of the data I collected and combined (the first number is just a line index, the 3 numbers after that are the x,y,z depth coordinates and the last one is the handle which I got from the 2D image):
9. -674.66896772385,-699.45961236954,-1499.9959468842,10
10. -434.63253974915,-452.66792178154,-970.74943780899,10
11. -432.64237046242,-452.66631245613,-970.74604034424,24
As you can see, these lines don't match because the depth information notices a "jump" from line 9 to 10 but the handle information gets the "jump" from line 10 to 11. I compared this behaviour with the 2D depth image of the Vision Sensor where the "jump" is also one line later than the depth coordinates suggest. This mismatch even propagates such that in the later lines there is a mismatch of 4 or 5 lines.
I'm collecting the depth coordinates by using the "Extract coordinates from work image"-Filter (after putting the original depth image into the work image). Is there maybe a way to look into this filter to understand how it is working and if this mismatch problem comes from the computation of the depth coordinates? Or is this some kind of bug?
I would really appreciate it if someone could have a look at this and give me a short reply on how to solve this problem.
Thanks a lot!
Best,
deepgrasp