15.35 14.2.11 Pipeline RGB-D
| Etapa | ID | Acción |
|---|---|---|
| 1 | Acquire |
Capture synchronized RGB and depth plus ImgTransformations/calibration metadata. |
| 2 | Align |
Align depth to the segmentation image or transform masks/rays to the native depth frame. |
| 3 | ValidateDepth |
Build invalid-depth, confidence, edge and mixed-pixel masks. |
| 4 | Segment2D |
Produce semantic, instance, part and visibility outputs. |
| 5 | ErodeForDepth |
Use an eroded interior mask for robust depth samples; preserve the original boundary separately. |
| 6 | Lift |
Back-project valid pixels with the actual image intrinsics into C/D/H. |
| 7 | TransformToWorld |
Apply the calibrated T_W_C or T_W_D. |
| 8 | FitGeometry |
Estimate planes, curved patches, normals, boundaries and object pose with robust statistics. |
| 9 | Associate |
Match geometry to persistent sceneObjectId and update visibility/quality. |
| 10 | Validate |
Run residual, coverage, reprojection and topology checks before publication. |
DepthAI permite alinear profundidad a RGB y generar point clouds; en RVC2 el nodo PointCloud se ejecuta en host [P42-R8, P42-R9]. La transformación debe utilizar los metadatos reales de la imagen producida, incluidos crop, resize y undistortion [P42-R11].
15.35.1 Reglas de muestreo de profundidad
- Use the actual intrinsics for the transformed image, not raw sensor intrinsics after crop/resize/undistortion.
- Do not average across a depth discontinuity or across foreground athlete and background hold.
- Prefer robust median/trimmed estimation over a raw center pixel.
- Report valid-depth coverage; low coverage widens covariance or suppresses metric geometry.
- Keep depth confidence and post-processing configuration with each scene reconstruction.
- Temporal/spatial filters may fill holes but must not convert synthesized depth into Measured state.
- For small holds, use multi-frame fusion or higher-resolution depth only when registration error is below the feature scale.
La confianza de StereoDepth es invertida: valores inferiores indican mayor fiabilidad. Un filtro mediano puede suavizar ruido, pero no preserva bordes y puede contaminar siluetas pequeñas [P42-R10].