Measurement from the tof camera

chobitsfan · December 20, 2024, 1:39am

Reported depth measurement: point to point or point to virtual plane?

opened 07:39AM - 13 Dec 24 UTC

How does the Arducam ToF camera reports depths? 1) from the center of the lens …to each location of the target ("range" in the drawing below)? 2) Or each points location in the target is projected on a virtual plane passing through the sensor plane ("depth" in the drawing)? ![range_vs_depth](https://github.com/user-attachments/assets/31660831-d92c-4811-bd42-ef344cc78713) From our measurements it seems that depths are reported according to 1), that is, there is no correction for the angle between the optical axis of the lens and the ray between the center of the lens to a target object.

How does the Arducam ToF camera reports depths?

from the center of the lens to each location of the target
Or each points location in the target is projected on a virtual plane passing through the sensor plane

Thank you very much

Dion · December 20, 2024, 7:15am

Hi,
In the SDK, the reported depth values are based on a virtual image plane that is parallel to the object. This image plane represents the projection of the scene as seen through the lens of the camera. Essentially, the SDK provides the depth from the object to this image plane, not directly from the sensor to the object.

chobitsfan · December 20, 2024, 11:13am

Hi @Dion Thank you so much for very helpful information

ludo · December 26, 2024, 1:34am

Hi @Dion ,

Thanks for the clarification but then could you please explain why we find that the depth measured from the ToF to a straight object appears curved? Your forum doesn’t seem to accept uploading images so I have posted the follow-up on github. Kindly please have a look over their at github.