View my account

Left-color of D415

Follow
Yixun Liu

Hi,

I am reading the article "Best-Known-Methods for Tuning Intel® RealSense™ Depth Cameras D400 series for Best Performance ". I am confused for the part 10 "Use the left-color camera:" 

Several things I want to confirm for D415:

1. Both the left and right image sensors ( OV2740) are color sensor, right?

Does D415 use color or monochrome images to infer the depth?

2. Can I get the left-color image and the depth map at the same time?

It looks the configuration "RGB for left and Y8 for right" is not supported. 

Only the configurations Y8/Y16 for both left and right sensors are supported.

Thanks.

Yixun 

0

Comments

5 comments

Date Votes
  • MartyG

    Hi Yixun Liu  Thanks very much for your questions.

     

    1.  Only the left infrared sensor can provide an RGB color image.  The right infrared sensor is monochrome.

     

    2.  You can stream the depth image and RGB color from the left sensor at the same time.  You are correct though that if RGB color from left is enabled then Y8 infrared from right is not available. 

     

    Y8 / Y16 from both left and right simultaneously is supported.

    0
    Comment actions Permalink
  • Yixun Liu

    Thank you MartyG.
    I am a little confused for Answer 2.
    Let's say I use the following configuration to enable depth and left-color streams:
    cfg.enable_stream(RS2_STREAM_DEPTH, width, height, RS2_FORMAT_Z16, 30);
    cfg.enable_stream(RS2_STREAM_INFRARED, 1, width, height, RS2_FORMAT_RGB8, 30);//do I need index 1 to denote the left sensor?
    Here  I want to know which two streams are used to calculate the depth internally. The left color stream and the right monochrome stream?
     

    0
    Comment actions Permalink
  • MartyG

    You only need to use an index number for infrared if you are streaming both left and right infrared.  In that case, left infrared is '1' and right infrared is '2'.  For left infrared only, you can remove the index number from the cfg line.

     

    None of the streams are used to calculate the depth frame.  The camera instead uses raw left and right infrared frames captured by the camera hardware to produce a depth frame.  These raw infrared frames inside the camera are different from the infrared streams.  This is why depth can be streamed even when the infrared streams are not enabled.

    0
    Comment actions Permalink
  • Yixun Liu

    The raw streams used to calculate the depth are unrectified and the infrared streams are rectified, right?

    0
    Comment actions Permalink
  • MartyG

    That is correct, the raw infrared frames used to calculate depth are unrectified.  In regard to the infrared streams, Y8 is rectified and Y16 is unrectified because it is used for camera calibration.

    0
    Comment actions Permalink

Please sign in to leave a comment.

Didn't find what you were looking for?

New post