Hi @Tsjarly ,
The graph you have screenshotted is from the first unit that came off of the new calibration rig. After that, we tested 10 factory-calibrated cameras (with new rig we setup at factory), we tested all of them and took the median depth accuracy for what we advertise as our depth (instead of just taking the best one).
We tested 10 cameras that were calibrated with previous system, and the average was about 20% of error at 4m, and now it's well below 1/5 of that (median is 2% below 4m).
Regarding the oscillation effect - I'll be writing docs about it, essentially it's disparity pixel thing. so "error valley" (where accuracy is spot-on) at 6.6m would be likely be equate to 10 disparity pixels, while valley at 7.5m would be 9pix disparity (so it was 9 pixels difference between left/right img, which corresponds to 7.5m depth).
Here's the theoretical calculations for an OAK-D (it will vary camera to camera due to diff in focal len):
purely disparity to depth computation
This as well, but major thing is cam intrinsic estimation and distortion model estimation (especially for wide fov cameras). So disparity itself will come out different already.
Thoughts?
Thanks, Erik
