I have a realsense f200 (xyz scanner). I like to use the depht camera video feed. When I point the camera at the floor under an angle I get a image of "green waves" How can I calculate the distance from the colors?

[avand5]

[MartyG]

The pattern of stripes / waves on the image is typical of the F200 and its newer relation the SR300. It is because they use a camera technology called Structured Light (also known as coded Light) that produces these patterns. Below is an example image from an F200 showing these stripes.

A developer called Mike Taulty who wrote tutorials on his blog for the F200 and SR300 did one for depth-sensing with the F200.

https://mtaulty.com/2015/04/15/m_15783/

The link below discusses an alternative approach to distance calculation with the F200:

https://software.intel.com/en-us/forums/realsense/topic/606174

There were originally some excellent PDF tutorial manuals for the F200 in 2014 that have a lot of useful code samples. I recalled that I posted an archive of them in a zipped file a couple of years ago. If you download the zip that is attached to that forum message and unpack it to get the manuals, you may find some good programming material there too.

https://forums.intel.com/s/question/0D50P0000490Q2gSAE/realsense-2014-sdk-manuals-and-script-samples?language=en_US

[avand5]

I know how the sensor works. This is not a picture of the projected infrared pattern. This should show depth encoded in colors. In this case the camera should produce a graded color that goes from red to blue or from dark to light.

I think there is some bug in the uvc drivers. According to the webcam the video data is of the type YUY2. I think the video stream has another format and is wrongly presented by the uvc driver.

[MartyG]

I see. I misunderstood the XYZ reference in your original message. You are literally using the XYZ Printing 3D scanner with an F200 camera built into it, and not a normal Intel RealSense F200 USB camera, yes?

https://3dscanexpert.com/xyz-3d-scanner-review/

The article says that the XYZ software is basically the usual F200 RealSense SDK software with a custom user interface on top of it, so the XYZ and the Intel F200 USB camera should be very similar in regard to operating principles.

I looked in the top corner of your image. Wow, AMCAP! That brings back some memories. It also helped me to find a potential answer to why you are getting that green image. Several years ago, another F200 AMCAP user of AMCAP had the same green image and wondered why it didn't look like a depth image.

https://software.intel.com/en-us/forums/realsense/topic/550704

Vision tech expert Samontab, who was extremely knowledgable on the subject of the F200, said in this discussion, "It looks weird because it is a 16 bit grayscale image being displayed as an 8 bit image. This can be seen in all those contours, which are basically overflown 8 bit numbers."

[avand5]

You are right it is the xyz printing scanner. Besides Amcap I tried two other webcam viewers. They all gave the same result. It looks like the depth video is in a format that no other software understands.

[MartyG]

Samontab made a laser customization utility for the F200 that you might find useful to experiment with, if it works with the XYZ scanner.

https://software.intel.com/en-us/forums/realsense/topic/537872

It can be downloaded from this link as a zip:

http://www.samontab.com/web/files/ivcam.zip

 Intel also published an App Showcase site in the F200 era of RealSense where you can access apps for the F200.(and R200 and SR300 too for owners of those models who may be reading this)

https://realsenseapp.intel.com//apps/