depth error
depth error
Hi,
I was looking to see what kind of depth error I could expect using the stereo cameras here:https://nerian.com/support/resources/calculator/
On plugging in different values for "expected disparity error", I expected the depth error to vary linearly. But that doesn't seem to be the case.
I was using the formula
where, delta_Z is depth error
Z is target depth
B is baseline
f is focal length
delta_D is expected disparity error
Is there something else in the nerian stereo cameras that I have to take into account?
I was looking to see what kind of depth error I could expect using the stereo cameras here:https://nerian.com/support/resources/calculator/
On plugging in different values for "expected disparity error", I expected the depth error to vary linearly. But that doesn't seem to be the case.
I was using the formula
Code: Select all
delta_Z = Z^2/(B*f) * delta_D
Z is target depth
B is baseline
f is focal length
delta_D is expected disparity error
Is there something else in the nerian stereo cameras that I have to take into account?

 Posts: 43
 Joined: Mon Mar 25, 2019 1:12 pm
Re: depth error
Hi,
your equation is wrong. Z is computed by:
so a delta in D will result in:
this delta is dependent on the disparity (and hence the depth) and is thus not linear but it increases with the depth. The solution is approximately quadratic for small delta_D, which is what you see in the error chart.
Regards,
Konstantin
your equation is wrong. Z is computed by:
Code: Select all
Z = B*f / D
Code: Select all
delta_Z(D) = B*f / (D + delta_D)  B*f/D
Regards,
Konstantin