Json configuration, change the min/max distance depth to get an image with the right colors | D415 camera C#

• MartyG

  • February 27, 2020 08:45

  Here are examples of the code to set depth clamp min-max in a json:

  "aux-param-depthclampmin": "0",

  "aux-param-depthclampmax": "65536",

  The easiest way to generate a json is to set the desired parameters in the RealSense Viewer and then use the json export button on the toolbar at the top of the Viewer's options side-panel.

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• Thomas Chenus33

  • February 27, 2020 09:15
  • Edited

  Thank you, Marty. That's already the technique I'm using to export the Json file from the viewer. I can really improve things by modifying "depthclampmax" and "depthclampmin", but I still can't get the same quality of color gradient that I can get with the viewer and the "depthmindistance" and "depthmaxdistance" parameters. Is there a formula that allows you to know according to the distance that you have to set its value of depthclampmax / min?

   

  Result with the viewer and depthmin/maxdistance :

  

  Result with depthclampmin/max configuration into my application : 

  

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• MartyG

  • February 27, 2020 09:35
  • Edited

  If you are writing your own application then you will not necessarily automatically get the same results as you do from the Viewer.  This is because the Viewer has most of the Post Processing image improvement functions enabled by default, whereas you have to turn these on manually in your own program.

  There isn't much information about accessing post-processing filters in C#.  I did find a script that a RealSense user offered, adapted from the SDK's C# processing example.

  https://forums.intel.com/s/question/0D50P00004D2MSBSA3/depth-postprocessing-in-%D1%81?language=en_US 

  A RealSense team member provided information about accessing it with C# through Unity too:

  https://github.com/IntelRealSense/librealsense/issues/1898#issuecomment-399816643 

  Information on the post-processing filters can be found here:

  https://github.com/IntelRealSense/librealsense/blob/master/doc/post-processing-filters.md 

  Edit: Thanks so much for the images.   It looks like the Viewer image is certainly benefiting from filters such as hole-filling.

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• Thomas Chenus33

  • February 27, 2020 09:46

  Ok thank you very much, I'll work on it and see what result I can get :)

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• Thomas Chenus33

  • March 04, 2020 15:29

  Good morning,

  I've applied the post-processing filters that you've linked to me. Still I still can't get the texture as good as in the viewer (see image above). But I discovered today that in the Options I could put
  "colorizer.Options[Option.MinDistance].Value = 20.0F;"
  here the min/max distance values can be found. But I can't apply it on my image. I then apply it with the line

  var processedFrames = frames
  .ApplyFilter(align_to).DisposeWith(releaser)
  .ApplyFilter(decimate).DisposeWith(releaser)
  .ApplyFilter(spatial).DisposeWith(releaser)
  .ApplyFilter(temp).DisposeWith(releaser)
  .ApplyFilter(holeFill).DisposeWith(releaser)
  .ApplyFilter(colorizer).DisposeWith(releaser);
  here you can find the colorizer, but it doesn't change my min/max distance

  What did I miss? I would really like to be able to set these parameters, it's important for my application to have the same precision as with the viewer.

  my code of the filter block :

  

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• MartyG

  • March 04, 2020 16:52
  • Edited

  Since the last time that you messaged, I found that the best approach was to do the depth clamping through the 'Threshold Filter' in the "Post-Processing" section of the Viewer.  If you enable this filter then the detail in the background should be limited to 4 meters maximum from the camera if the maximum distance of the filter is set to '4'.

  Earlier today I found a script for setting the Threshold Filter with C++ code.

  https://stackoverflow.com/questions/59054413/intel-realsense-depth-camera-d435i-noises-and-mounds

  Edit: I'm reminded by the discussion title that you are using C#. 

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• Thomas Chenus33

  • March 05, 2020 08:43

  YEEES that's works :D Thanks a lot !! 

  I share my code for people who program in C#, it's really more convenient than the Json file like that :

  

  

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• MartyG

  • March 05, 2020 08:56

  Awesome news!  Thanks so much for sharing your C# solution.  I will share a link to it on a discussion about the threshold filter so that it can be found by others.   :)

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• Thomas Chenus33

  • March 05, 2020 09:29

  No problem :)

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• A Tuan

  • January 05, 2021 10:20

  Hi Thomas Chenus33, I used your c # code above, run for a while with an error: Exception was thrown during user processing callback: Out of frame resources! "Can you help me solve this problem.

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