erik Hi
Here is the test method we did. if you need anything more, please feel free to let me know we will come back to you as soon as possible. we also try to prepare the left/right steams and calibration as well.
Test method (attach the measured depth data (0.4m ~ 3.0m))
We are using depthai_ros noetic branch of gitgub, and stereo_inertial_node.launch from depthai_example package.
Depth accuracy was tested by placing an appropriately sized box in front of the camera and moving it in the Z-axis direction relative to the camera frame.
We received the /stereo_inertial_publisher/stereo/depth topic of type sensor_msgs/Image and defined it as the depth to measure the average of 64 pixel data coming in front 8x8 (pixels).
The standard deviation in the third column is the standard deviation of the last 30 depth data measured for objects at a fixed distance.
<the result of OAK-D depth test>
actual measurement | measurement | standard deviation (last 30 data) unit: m
0.4 0.3996 0.0004
0.8 | 0.7984 | 0.0010
1.2 | 1.1994 | 0.0028
1.6 | 1.5965 | 0.0056
2.0 | 1.9874 | 0.0085
2.5 | 2.4747 | 0.0109
3.0 | 2.9966 | 0.0144
<the result of OAK-D-Pro depth test>
actual measurement | measurement | standard deviation (last 30 data) unit: m
0.4 | 0.4145 | 0.0004
0.8 | 0.8587 | 0.0016
1.2 | 1.3298 | 0.0026
1.6 | 1.8337 | 0.0059
2.0 | 2.3776 | 0.0084
2.5 | 3.1465 | 0.0196
3.0 | 3.9321 | 0.0334
Best regards,
Ryan.