Depth

AirGen contains three types of depth sensors: DepthPerspective, DepthPlanar, and DepthVis.

DepthPerspective is a depth sensor that uses a perspective projection model. In this image, each pixel represents the depth from the camera position using a projection ray that hits the object corresponding to that pixel.

DepthPlanar is a depth sensor that returns depths in the camera plane, i.e., all points that are plane-parallel to the camera have same depth.

DepthVis is a depth sensor that returns a depth image that is visualized as a B/W image. In this case, each pixel value is interpolated from black to white depending on depth in camera plane in meters. The pixels with pure white means depth of 100m or more while pure black means depth of 0 meters.

DepthPerspective and DepthPlanar return floating point images, whereas DepthVis is a uint8 image in the range 0-255.