My first experiment with the Creative camera and Intel Perceptual Computing SDK was to put a giant planar surface about 12 inches from the camera and approximately fronto-parallel, and to dump out the 3D point cloud for the surface. I expected to see a noisy plane. But I get a surface that has a definite wave or bump in it. I checked with a level that my rigid board is really flat. I repeated the experiment with other flat boards, including one that is just entirely white, and I always get the same result: a wavy surface.
I've attached a couple of snapshots of what I am getting. I color the (X,Y,Z) points using the RGB camera image, and I use black if the location in the RGB image plane is out of bounds. That's why the points around the periphery are black.
Has anyone else observed this behavior?
Intel: Why does this happen and how can I remove this bias?
I am NOT computing the point cloud myself. I am obtaining the 3D point cloud directly from the SDK using PXCImage::COLOR_FORMAT_VERTICES.