2016-04-12

Evaluation of CREATIVE camera and DepthSense camera

• compare CREATIVE camera and DepthSense camera

Conclusion

Almost same performance

but DepthSense camera is a little bit weird

CREATIVE camera

Specs

• 15cm以上離れている必要あり
• depth image: /softkinetic_camera/depth/image_raw
  • height: 240
  • width: 320
  • encoding: 32FC1
• color image /softkinetic_camera/rgb/image_color
  • height: 720
  • width: 1280
  • encoding: bgr8
• points xyzrgb /softkinetic_camera/depth/points
  • height: 240
  • width: 320

Issues

Experiment

Setup

Topic hz

Grid table:

topic	rate	min_delta	max_delta	std_dev
/softkinetic_camera/depth/points	30.053	0.021	0.043	0.005
/softkinetic_camera/depth/image_raw	30.136	0.018	0.044	0.006
/softkinetic_camera/rgb/image_color	25.250	0.058	0.061	0.008

View

• front view

• above view

DepthSense

Specs

• 15cm以上離れている必要がある
• points xyzrgb /softkinetic_camera/depth/points
  • height: 240
  • width: 320
  • encoding: 32FC1
• depth image /softkinetic_camera/depth/image_raw
  • height: 240
  • width: 320
  • encoding: 32FC1
• color image /softkinetic_camera/rgb/image_color
  • height: 720
  • width: 1280
  • encoding: bgr8

Issues

• color image /softkinetic_camera/rgb/image_color の色が全体的に黄色い
• a little bit noisy?

Experient

Setup

Topic hz

Grid table:

topic	rate	min_delta	max_delta	std_dev
/softkinetic_camera/depth/points	30.164	0.017	0.043	0.006
/softkinetic_camera/depth/image_raw	30.136	0.018	0.045	0.005
/softkinetic_camera/rgb/image_color	24.960	0.032	0.051	0.005

View

• front view

• above view