depth feed has inaccuracies along edges of silhouettes

[fractalfantasy]

The depth map seems to lighten up around the lip of silhouettes, causing protrusions/artefacts along the edges in 3d. Likely an issue caused by filtering within the sensor SDK - Kinect v1 & v2 didn't have this issue.

https://www.youtube.com/watch?v=9DBaMCZ8ols

• This video shows the depth map displacing a simple plane with normals mapped to color. Notice the spikey protruding edges.
• It also shows closeups of the raw depth data that seems to lighten along the rim of the silhouette.
• Our ripple/fatness deformer struggles with this edge issue so we are trying to find a solution.

Thanks!

[fractalfantasy]

Hypothesis 1 - SDK Spatial Filter I believe SDK's spatial filter may be causing these inaccuracies/artefacts - other users are getting edge issues because of it - perhaps exposing the smoothness/filtering param would help.

• Issue #789
• User on StackOverflow

Hypothesis 2 - Flying Pixel Phenomenon Could also be a result of the flying pixel phenomenon erroneous depth estimates which occur close to depth discontinuities.

• MDPI Paper evaluating Azure Kinect depth details the flying pixel phenomenon on page 20
• Note: Kinect v2 also had the flying pixel issue, however it didn't have protruding silhouette edges like the Azure Kinect. Which makes me think it is more likely a filtering issue within the SDK.