深度相机的深度测量值含义

最近想起从前工作中跟领导的一个争执点，深度相机的测量值究竟是什么，是物体到相机平面的垂直距离（点到平面到距离），还是到相机中心的点点距离。我认为是前者，被骂得很惨。。事实证明领导过分自信。

再次重申，Kinect及realsense所测量的深度值是空间点到相机平面的垂直距离。

参考链接：
It means the distance form the camera plane, i.e., perpendicular distance, not a straight line from the object to the camera lens. [1]

we assume that the image coordinate system is parallel with the base line and thus with the depth coordinate system… define the depth coordinate system to be parallel with the image coordinate system instead of the base line. [2]

1. https://software.intel.com/en-us/forums/realsense/topic/620341
2. Khoshelham K, Elberink S O. Accuracy and resolution of kinect depth data for indoor mapping applications[J]. Sensors, 2012, 12(2): 1437-1454.