Looking into depthMap II - Apple iPad Pro LiDAR

Compared with:
Looking into depthMap - Apple iPad Pro LiDAR
https://youtu.be/h3PBy0psayY
about 2 months ago.

Since iOS & iPadOS 14 Beta 5, Apple has improved the quality of ARDepthData with the provisional option of so-called 'smoothedSceneDepth'.

The improvements we have observed:
- The depthMap points are more accurate but linearized
- The RMS errors of surface fitting are smaller (decreased from 2~5 mm to 1~3 mm)
- Object steps (edges) with small offset are visible
- Edges of object surface are more clear
- Planar object surfaces are more flat
- The number of noisy points in shadow boundaries is reduced
- The number of points with the 'medium' or 'high' confidence threshold is increased (The number 49,152 points with the 'low' confidence threshold is the max number of the depthMap points).
- The number of points with the current (beta 5, 6) 'high' confidence threshold is about the same with that of the old (beta 4) 'medium' confidence threshold.

These improvements are implemented to the current ARKit 4.
Now, there is no quality difference of ARDepthData between sceneDepth and smoothedSceneDepth.

We hope the release of the access API to the raw distance data of 576 LiDAR points.

Tools used:
- Apple iPad Pro LiDAR
- Apple ARKit 4
- Apple Metal API
- CurvSurf FindSurface for Web Demo.
https://developers.curvsurf.com/WebDemo/
3-D, least squares, analytic geometry, differential geometry, principal curvature, principal direction, fitting, curve, surface, orthogonal distance fitting, robust fitting, point cloud, segmentation, region growing, outlier elimination, object recognition, reverse engineering, CAD CAM, BIM, augmented reality, occlusion, laser scanner, curve fitting, surface fitting, plane fitting, sphere fitting, cylinder fitting, cone fitting, torus fitting, piping, reducer, elbow, box, cuboid, radius, length, size, position, location, orientation, pose, rotation, axis, Software, ISO 10360-6, ARKit, ARCore, HoloLens, RealSense, FindSurface, LiDAR, ToF, laser scanner, iPad Pro, iPhone Pro

Видео Looking into depthMap II - Apple iPad Pro LiDAR канала CurvSurf