Depth Data Detected

Using the method in the last blog, we tested the depth value of the objects. We displayed the values on the output images and as seen in the above video, they are pretty accurate and quick.

There are some occasions that the values are zero or 17** which is the depth of the background wall. The first error is because the shadow of the cup moves its mass center from its real center to the bottom, which is very like to be "invalid area"; the second error happens when the object is moved very fast, because depth image falls behind the color image by one to two frames and actually returns the depth value of the same coordinates in the previous frame.

To solve the first problem, we just need to cover the table with a low reflective cloth to remove the shadows; the second one could rarely happen in practice, but I will also filter it out.