raw depth data d435

[ameln3]

How do you do!

I would like to see raw 3D data and process by myself. Is that possible?

If not, what is the least processed data acquisition existing in the camera?

Thank you :-).

[MartyG]

Do you mean that you would like to have access to the raw data without any distortion mode such as Brown-Conrady applied to it? and you want to be able to do this yourself with a script instead of using the RealSense Viewer software?

It is a slightly complex subject. I remember that RealSense stream programming expert jb455 (who I have linked into this discussion) once gave the best explanation of it. I'd rather let him leave a comment here and explain it in his own words than try to explain it myself and get it wrong. JB, you once said that the camera's stream is rectified so that its distortion coefficient is 0 by the time it reaches the PC, didn't you?

Also, Andreymath, you might like to read about the LabVIEW wrapper for SDK 2.0, which can display raw unrectified images.

https://github.com/IntelRealSense/librealsense/blob/master/wrappers/labview/readme.md# realsense-hello-world-left-right-unrectified librealsense/readme.md at master · IntelRealSense/librealsense · GitHub

[ameln3]

Dear Marty,

Thank you very much for the quick response.

I would like to work on transparent objects and to learn the subject.

So, ideally, I would be glad to be able to see ALL the points that the camera creates, even if the camera thinks it is wrong.

I want to try to correlate the data from few cameras even.

Thank you,

Appreciate,

Andrey M.

[MartyG]

If you are also interested in IR data, the link below has a script for streaming raw left and right IR. The author initially thought the script only showed one of the two streams but later found the script worked fine and the problem was with the PC.

https://github.com/IntelRealSense/librealsense/issues/1819

A simpler script, which the author based their own script on, is in the Intel documentation.

https://github.com/IntelRealSense/librealsense/wiki/API-How-To?language=en_US#start-streaming-left-and-right-infrared-imagers

[ameln3]

Dear Marty,

got it, thanks!!!

It is really the raw data :-)...

If you have a pointer to an article describing how the 3d point cloud is constructed from these 2 images (using Brown-Conrady I guess) it would be a great help.

Thank you,

Andrey.

[MartyG]

The best resource available describes generating a point cloud using depth and color

https://github.com/IntelRealSense/librealsense/tree/master/examples/pointcloud librealsense/examples/pointcloud at master · IntelRealSense/librealsense · GitHub

[ameln3]

Thanks a lot.