topic Re: How to get D415 TRUE-RAW stream? in Items with no label

How to get D415 TRUE-RAW stream?

준노 — Wed, 07 Feb 2018 03:35:27 GMT

Hello,

I'm using D415 Camera and I try to get RAW stream from each cam (rgb, ir-left, ir-right).

I read this http://https//www.intel.com/content/dam/support/us/en/documents/emerging-technologies/intel-realsense-technology/Intel-RealSense-D40-Series-Datasheet.pdf documents, and I know how to get data stream for each camera. like below code.

(RGB - BGRA8, BGR8, Y16 ... / Infrared left&right - Y16, Y8)

sensors = device.query_sensors();

stereoSensor = sensors[0];

stereoSensor.open(stream_profile);

stereoSensor.start([&](rs2::frame f) {m_ir2_FrameQueue.enqueue(f); });

But I want RAW-Stream, not as formatted(Y16, Y8, RGB8... etc) data.

how can i do this?

Re: How to get D415 TRUE-RAW stream?

MartyG — Wed, 07 Feb 2018 08:48:26 GMT

The link below has a script with a list of image formats on lines 54 to 74. RAW10 is referred to by the term RS2_FORMAT_RAW10.

https://github.com/IntelRealSense/librealsense/blob/5e73f7bb906a3cbec8ae43e888f182cc56c18692/include/librealsense2/h/rs_sensor.h# L55 librealsense/rs_sensor.h at 5e73f7bb906a3cbec8ae43e888f182cc56c18692 · IntelRealSense/librealsense · GitHub

My research indicates that the instructions would look something like this:

RAW10 COLOR

{ RS2_STREAM_COLOR, RS2_FORMAT_RAW10, width, height, 0 },

RAW10 INFRARED

{ RS2_STREAM_INFRARED, RS2_FORMAT_RAW10, width, height, 0 },

RAW10 DEPTH

{ RS2_STREAM_DEPTH, RS2_FORMAT_RAW10, width, height, 0 },

More complex use of these instructions can be found in the script below, from line 635 onwards down to the end of the script.

https://github.com/IntelRealSense/librealsense/blob/master/src/image.cpp librealsense/image.cpp at master · IntelRealSense/librealsense · GitHub

Re: How to get D415 TRUE-RAW stream?

준노 — Thu, 08 Feb 2018 06:16:29 GMT

NO, the first answer is not the solution. Even though RS2_FORMAT_RAW10 is specified in rs2_format, the following code throws an exception. (which marked X)

config cfg;
cfg.enable_device(dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
//cfg.enable_stream(RS2_STREAM_INFRARED, 1, 1920, 1080, RS2_FORMAT_RAW16, 0); X
//cfg.enable_stream(RS2_STREAM_INFRARED, 1, 1920, 1080, RS2_FORMAT_RAW10); X
//cfg.enable_stream(RS2_STREAM_INFRARED, 1920, 1080, RS2_FORMAT_RAW10); X
//cfg.enable_stream(RS2_STREAM_COLOR, 1920, 1080, RS2_FORMAT_RAW10); X
//cfg.enable_stream(RS2_STREAM_COLOR, 1920, 1080, RS2_FORMAT_RAW16); O
//cfg.enable_stream(RS2_STREAM_INFRARED, 1920, 1080, RS2_FORMAT_RAW16); X
pipeline pipe;
pipeline_profile profile = pipe.start(cfg);
frameset frames = pipe.wait_for_frames();

In my research, Sensor has there own unique stream format which is predetermined.

Color Stream - RAW16/Y16/BGRA8/RGBA8/BGR8/RGB8/YUYV (*and also only FHD resolution can use RAW16 )

Infrared Stream 0 - UYVY/Y16/BGRA8/RGBA8/BGR8/RGB8

Infrared Stream 1&2 - Y16/Y8 (* Y16 only can use in [FHD resolution X 25,15 fps] and [960x540 X 25,15 fps])

Depth Stream - Z16 only

Maybe your second answer could be a solution, but there is very little sample code....

Re: How to get D415 TRUE-RAW stream?

idata — Mon, 12 Feb 2018 18:43:03 GMT

Hello njsnacker,

The RAW format is not exposed to end users. To view all supported stream formats for each sensor use the command:

rs-enumerate-devices -m

We have submitted this request for support to the engineering team but we cannot say if and when it will be implemented.

Regards,

Jesus

Intel Customer Support