topic Quote:DMITRY Z. (Intel) wrote in Software Archive

Depth coordinate in QueryVertices() function

Amit_T_ — Sun, 08 May 2016 14:43:05 GMT

Hi,

In IQSampleTool application, the specified function returns a vertices array of 3D points (PXCMPoint3DF32[]). These points suppose to have 3 'single' fields - x,y,z.

However, the z field of all points of the vertices array retrieved by the function always seems to have an integer value. Is it necessarily the case? Do these vertices points always have an integer z value?

Yes they do, annoyingly! If

jb455 — Mon, 09 May 2016 08:38:04 GMT

Yes they do, annoyingly! If you want float values for depth you'll have to do depthImage.AcquireAccess() with a float pixel format then use depthData.ToFloatArray(), and use these z values along with the x & y you get from the vertices.

Thanks.

Amit_T_ — Mon, 09 May 2016 13:12:26 GMT

Thanks.

I am trying to follow your instructions, but the change from depthData.ToUShortArray() to depthData.ToFloatArray() cause this runtime exception: "System.AccessViolationException - Attempted to read or write protected memory".

Do you know what is it about and how to resolve it?

Are you using PXCMImage

jb455 — Mon, 09 May 2016 13:48:44 GMT

Are you using PXCMImage.PixelFormat.PIXEL_FORMAT_DEPTH_F32?

Yes. This format changes the

Amit_T_ — Mon, 09 May 2016 14:00:23 GMT

Yes. This format changes the pixels resolution from 640*480 to 1280*480.

But the same exception is thrown when using both formats (PIXEL_FORMAT_DEPTH_F32 and PIXEL_FORMAT_DEPTH).

Attached is the exception details.

We solved the problem. Sorry

Amit_T_ — Mon, 09 May 2016 14:34:58 GMT

We solved the problem. Sorry for the trouble.

The problem was dividing by sizeof(float) instead of sizeof(ushort)...

Now it's working, thank you very much.

Hmm, not sure what that could

jb455 — Mon, 09 May 2016 15:14:33 GMT

Hmm, not sure what that could be.. I presume dpixels is of float[] type? My code is in bits at the moment so I can't test for you but I don't remember seeing this error before. Perhaps someone else can help?

Please note this rounding

Dmitry_Z_Intel — Tue, 10 May 2016 10:39:50 GMT

Please note this rounding behavior of QueryVertices() was fixed for future SDK releases.

Great, thank you.

Amit_T_ — Tue, 10 May 2016 10:45:16 GMT

Great, thank you.

Quote:DMITRY Z. (Intel) wrote

jb455 — Tue, 10 May 2016 12:50:00 GMT

DMITRY Z. (Intel) wrote:

Please note this rounding behavior of QueryVertices() was fixed for future SDK releases.

That's good to hear! Is there anything you can share with us as to when we can expect the next release?