What is the depth resolution? As in the minimum differential distance between two levels
The Tau Camera's theoretical differential depth level is on the millimeter level. However, the effective differential depth is on the centimeter level depending on the level of noise.
To get down to the millimeter level of granularity an effective noise suppression algorithm must be used.
To be more specific, the depth accuracy is within +/-2% of the measuring distance. The closer camera is to the object, the lower the error will be. For the range of 100mm to 2000mm, the depth accuracy would be under +/-20mm.
1 - Depth Data from the API
Yes, you can definitely get completely raw depth data using the Python API! Here's the frame object you get back when reading from the camera: https://taulidarcommon.readthedocs.io/en/latest/api.html#module-TauLidarCommon.frame
More docs on the API here:
And the API is on GitHub:
2 - the lens
Wanted to ask first, how much wider does your use case require?
The lens is a standard mount so it's possible to change it. I can find out more about this if you're interested.
If it's a huge amount then you're correct, the projection might become an issue. In this scenario, you can actually use 2 or more cameras in tandem - more info coming on this soon!