I am using the python wrapper for Real Sense D435i and wanted to know what are the values of the depth image refer to? what is the transformation I need to use in order to get the values in meters?

[Alexandra_C_Intel]

Hi STzur, Thank you for your interest in the Intel RealSense D435i camera. According to the datasheet, page 14, Figure 2-1, the depth pixel value is a measurement from the parallel plane of the imagers and not the absolute range. https://www.intel.com/content/dam/support/us/en/documents/emerging-technologies/intel-realsense-technology/Intel-RealSense-D400-Series-Datasheet.pdf Deprojection takes a 2D pixel location on a stream's images, as well as a depth, specified in meters, and maps it to a 3D point location within the stream's associated 3D coordinate space. It is provided by the header-only function rs2_deproject_pixel_to_point. You can find more information here. https://github.com/IntelRealSense/librealsense/wiki/Projection-in-RealSense-SDK-2.0#intrinsic-camera-parameters Let me know if you have further questions. Regards, Alexandra

[MartyG]

Which values do you want to know about, please?

There is a Python tutorial for getting distance in meters.

https://github.com/IntelRealSense/librealsense/blob/jupyter/notebooks/distance_to_object.ipynb