Vector about depth frame

• MartyX Grover

  • June 16, 2021 13:59

  Does the MATLAB wrapper script in the link below that contains depth vector retrieval code help to answer your questions, please?

  https://github.com/IntelRealSense/librealsense/issues/4245

  Whilst that particular script does not use a colorizer, it may provide useful insights that you can adapt for the depth_example.m MATLAB example script.

   

  

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• 180445034

  • June 17, 2021 04:14
  • Edited

  I want to know what the principle is for the depth frame data before the depth camera is colored, which is obtained by the code "pipe.wait_for_frames ();".
  Since the color data arrives as a [R, G, B, R, G, B, ...] vector, I think that the depth frame can also be obtained as a vector.

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• MartyG

  • June 17, 2021 05:41

  Could you provide more information please about your question to help to understand what you are asking for.  Thanks very much.

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• 180445034

  • June 18, 2021 06:58

  I want to know what the theory is about the depth data acquired by the realsense depth camera. If the depth data is a vector or sequence, I would like to know how it is calculated for the code.

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• MartyX Grover

  • June 18, 2021 09:07
  • Edited

  The data sheet document for the 400 Series depth cameras provides the following explanation for how depth is calculated.

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  The Intel RealSense D400 series depth camera uses stereo vision to calculate depth.  The stereo vision implementation consists of a left imager, right imager, and an optional infrared projector.  The infrared projector projects non-visible static IR pattern to improve depth accuracy in scenes with low texture. 

  The left and right imagers capture the scene and sends imager data to the depth imaging (vision) processor, which calculates depth values for each pixel in the image by correlating points on the left image to the right image and via shift between a point on the Left image and the Right image.  The depth pixel values are processed to generate a depth frame.  Subsequent depth frames create a depth video stream.

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  Depth is calculated as a 16-bit uint16_t pixel depth value that can be converted to real-world meters by multiplying the 16-bit value by the Depth Unit Scale value of the camera (which is 0.001 by default on the 400 Series camera models).  For example, if the uint16_t value was 65535 then multiplying it by 0.001 gives a real-world distance of 65.535 meters.

  https://github.com/IntelRealSense/librealsense/issues/2348#issuecomment-418152047

   

  The section of Intel's Projection documentation linked to below provides more information about this subject.

  https://dev.intelrealsense.com/docs/projection-in-intel-realsense-sdk-20#section-depth-image-formats

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• 180445034

  • June 21, 2021 06:02

  I will try it as a reference.

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