After looking at the point clouds generated using the Astra Pro, I noticed that my depth measurements look a bit quantized. As can be seen in the two attached pcl_viewer screenshots of my bedroom walls, you can see a grid-like pattern - quantized along the depth axis. I ensured that I’m using the 16 bit depth values from astra::DepthFrame, and I’m converting those 16 bit values directly to float for my point cloud.
From my inspection of the Orbbec.ini config file in the OpenNI orbbec-dev branch, I found the “InputFormat” setting which allows for Uncompressed and Packed 11-bit settings. By default, the 11-bit packed setting is used, and when I changed to the Uncompressed setting, my Astra Pro does not stream.
First, is the Orbbec.ini setting I found relevant to the quantization I’m observing? Is the Astra Pro firmware quantizing its depth measurements?
Second, any ideas for what I can do to reduce or remove this quantization artifact?