Our detection software is calibrated assuming that the origin of coordinate system is placed on the floor under the sensor. I was trying to move and rotate the Orbbec coordinate system using floor pane equation as we do it with Kinect, but I'm confused because the D coefficient of the equation which should be distance of the sensor to the floor along the normal (height over floor) seems to be very unstable and mostly incorrect. In my setup I place the sensor almost exactly 1,5 meter over ground and this is the value spread i get for the of the floor coefficients
1: A: 0.0, B: 1.0, C: 0.2, D: -527.719
2: A: 0.0, B: 1.0, C: 0.2, D: -2617.719
the first show 0.5 meter, second 2.6 meter but the proper height is as I said 1.5 meter.