Plane Fitting Problem with Depth Data on Stairs #2
Description
Problem with Depth Data on Stairs
When capturing images of stairs using the Strayscanner app, I have observed that when the depth distance exceeds approximately 2.5 meters, the stairs' contours do not appear in the depth data; instead, they are represented as a flat plane. It seems like plane fitting might be occurring during the fusion stage, as discussed in this Apple Developer Forum thread: link.
Visualizations Attached for Clarity
To better illustrate the issue, I have attached visualizations that utilize RGB, depth, and ARKit data obtained with the strayscanner app. In these visualizations, you can see a 3D reconstruction (with magenta color indicating ARKit position information). When observed from a side view, it becomes apparent that as the depth increases, the stairs appear to become closer to the flat plane.
This issue is problematic for my ongoing Pose Estimation project, as the depth data provided by strayscanner is not usable in this situation.
Request for Lidar Raw Data Access Option
I noticed that starting from iOS 15.4, it is possible to access raw data from the LiDAR sensor, as outlined in this Apple documentation: link. Therefore, I kindly request the addition of an option that allows users to acquire raw data from the LiDAR sensor, which would greatly improve the utility of the strayscanner app for a variety of applications, including projects like mine.
Thank you for your attention to this matter.