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15.66 14.3.19 Perfil OAK-D Pro AF PoE RVC2
15.66.1 Captura
- RGB
- aligned depth
- device timestamps
- calibration metadata
15.66.2 Flujo recomendado
- Use the 14.2 static scene map and SurfacePatch geometry.
- Lift body contact regions using depth with neighborhood robust statistics.
- Reject depth across silhouette discontinuities and invalid disparity.
- Track episodes offline with bidirectional temporal context.
- Estimate ordinal load by default; enable dynamics only with metric CoM, mass and reliable acceleration.
- Fuse external force sensors after clock alignment and frame calibration.
15.66.3 Limitaciones
- Single-view occlusion can hide fingers, toes and underside hooks.
- RVC2 RGB-D does not measure contact force.
- Depth noise and pose jitter are amplified by differentiation for acceleration.
- Body mass distribution and CoM remain model estimates unless measured.
La configuración por defecto del proyecto debe producir contactos y carga ordinal. La estimación dinámica se habilita sólo si las comprobaciones métricas, temporales y de masa pasan el quality gate.