How to get the depth information from .raw file (python)?

• MartyG

  • November 06, 2022 23:23

  Hi Thanyachanok Sutt  The best RealSense reference about reading depth data from a .raw file (which follows the UVC specification for the depth stream) is at the link below.

  https://github.com/IntelRealSense/librealsense/issues/2231#issuecomment-416814331

   

  You could also explore the possibility of loading a RealSense .raw file into the software tool MATLAB using programming.

  https://github.com/IntelRealSense/librealsense/issues/5824#issuecomment-584780985

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• MartyG

  • November 06, 2022 23:37
  • Edited

  The UVC specification for the Z16 depth stream is at the link below:

  https://linuxtv.org/downloads/v4l-dvb-apis/userspace-api/v4l/pixfmt-z16.html

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• Thanyachanok Sutt

  • November 07, 2022 18:54

  MartyX Grover I run and found this error.

  

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• MartyG

  • November 08, 2022 13:04
  • Edited

  A RealSense user who ran this script also had errors.  It apparently needs to be part of a larger script in order for headers to be defined, such as cv (which may be why cv:mat has a red error mark beside it in your script)..

  https://github.com/IntelRealSense/librealsense/issues/2231#issuecomment-423095172

   

  #define _CRT_SECURE_NO_WARNINGS 
  
  #include<iostream> 
  
  #include<opencv2/opencv.hpp>; 
  
  using namespace std; 
  
  using namespace cv; 
  
  int main(){ 
  int IMAGE_WIDTH = 424, IMAGE_HEIGHT = 240; 
  
  
  
  FILE* fp; char* imagedata; 
  
  int framesize = IMAGE_WIDTH*IMAGE_HEIGHT; 
  
  fp = fopen(filename, "rb"); 
  
  imagedata = (char*)malloc(sizeof(short)* framesize);
  
   fread(imagedata, sizeof(short), framesize, fp); 
  
  cv::Mat depthMat(Size(IMAGE_WIDTH, IMAGE_HEIGHT), CV_16U, (void*)imagedata, cv::Mat::AUTO_STEP); 
  
  
  
  printf("Depth RAW Central Value: %d mm", depthMat.at<short>(IMAGE_HEIGHT / 2, IMAGE_WIDTH / 2)); 
  
  fclose(fp); free(imagedata); 
  
  return 0; 
  
  }

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