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Depth FOV clarification

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Joe Cely

Specifically Sections 4.3 and 4.4 of the June 2020 Datasheet are not clear.  I'm interested in calculating both the Horizontal and Vertical FOV based on a specific mounting height ~5m.  I assume the equation in Section 4.4 can calculate both Vertical and Horizontal but it's not clear.  Can Intel provide some guidance.

Based on my understanding of the camera, you want to take depth measurements of things inside the Region of Interest which is 80% of the FOV.  Do the Horizontal & Vertical FOV values of Table 4-5 already account for this 80%?

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  • MartyX Grover
    • Edited

    Hi Joe Cely  Section 4.7 of the data sheet states that "although the module is designed for a certain depth FOV, the measurements are taken within 80% of this FOV, defined as region of interest (ROI).  This ROI will best align with intended usage area and the optical parameters qualification field".

    You may therefore attain optimal depth measurement accuracy in the regions of the image at and near to the center pixel of the FOV.  

    The formula for calculating depth FOV at any distance only asks for the horizontal field of view (HFOV).  This is likely because moving away from an observed object / surface is likely to have the most effect on the horizontal plane - as the camera becomes further away then the amount of detail in the scene that can fit into the FOV increases ('zooming out' the view).

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  • Joe Cely

    Thank you for the feedback Marty.  Maybe I should have stated my question differently.  My mistake...

    I have an area of interest that I want to monitor.  I need this area to fall inside the ROI for the camera.  I know the ROI will change based on the resolution set so what I'm looking for is how to calculate this ROI based on the Mounting height of the camera. In other words I want to calculate the rectangle produced by  the ROI (i.e.  20' x 16', 20' x 10', etc)  Data received outside the ROI will be ignored.  I have come up with an answer but I just want to make sure I'm calculating it right.  Our application plans to use the entire ROI.  Can you point me to the equations and specifications I will need?  Thanks

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  • MartyX Grover
    • Edited

    It sounds as though you want to define a 2D bounding box rectangle of a certain XY height and width on the depth image that excludes from the image any depth coordinates that are outside of the bounding box (like the image below).  Is that correct, please?

     

     

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  • Joe Cely

    Yes.  You're correct.  This bounding box, however, needs to be as big as possible. Ideally the size of the ROI box.

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