retrieved data of IR image

[LPaul2]

Hi folks,

We captured the infrared image in Y8 and Y16 format,

and observed that the value of each pixel in IR raw image wound become larger when closing the camera,

It's possible to get some rough depth information based on that value?

What is the data contain in captured ir raw?

""We know RSSDK has already provided some APIs for retrieving the depth of each pixel, which is calculated by triangulation""

Thank you in advance.

[idata · Accepted solution]

Hi Cheweilin,

Thank you for contacting us.According to the SDK 2016 R3, the function to access the data is AcquireAccess ( https://software.intel.com/sites/landingpage/realsense/camera-sdk/v2016r3/documentation/html/index.html?acquireaccess_pxcimage.html), this function retrieves the image in the format that you want ( https://software.intel.com/sites/landingpage/realsense/camera-sdk/v2016r3/documentation/html/index.html?pixelformat_pxcimage.html), if you need to understand each format I recommend you to check this site: http://fourcc.org/. I also found more articles about how to manage the raw data, they are old, but maybe thay can be helpful for you: https://software.intel.com/en-us/articles/dipping-into-the-intel-realsense-raw-data-stream?language=es https://software.intel.com/en-us/articles/realsense-depth-data https://software.intel.com/en-us/forums/realsense/topic/595033Have a nice day.Regards,Leonardo R.

[LPaul2]

Hello Leonardo,

Many thanks for your reply.

I have checked all the referred link above.

I know the infrared image's data could be retrieved by accessing datas stored in first plane AcquireAccess().

Does the retrieved data represent the reflecting disparity in IR image plane? or they are intensity?

Thank you very much!

[idata]

Hi Cheweilin,

That's a good question, I will investigate more about this, and I will contact you as soon as I have helpful information.Have a nice day.Regards,Leonardo R.

[LPaul2]

Hello Leonardo,

Thank you very much!

Waiting for the update.

[idata]

Hi Cheweilin,

I was checking the http://www.intel.com/content/dam/support/us/en/documents/emerging-technologies/intel-realsense-technology/realsense-sr300-datasheet1-0.pdf Intel® RealSense™ Camera SR300 datasheet, and I have found this in the Section 4.4.1 Depth Video Capture Flow: "To generate a depth frame, the IR projector illuminates the scene with a set of predefined, increasing spatial frequency coded IR vertical bar patterns. These patterns are warped by the scene, reflected back and captured by the IR camera."So, answering your question the data is the IR reflected in the image space.Thank you for your patience.Have a nice weekend.Regards,Leonardo R.

[LPaul2]

Hi Leonardo,

Thanks for your help.

According to datasheet 4.1.2 Infrared Video Data Capture Flow.

To generate an IR frame, the IR projector illuminates the scene with a white (I1) pattern.

This pattern is reflected by the scene and captured by the IR camera.

The IR camera pixel values are "processed" by the imaging ASIC to generate an IR frame.

Subsequent IR frames create a video stream that is transmitted to the client system.

As I know projector projects the coded pattern, then IR camera receives the reflecting IR.

Afterward the depth could be obtained by calculating the disparity between reflecting and referenced points on IR image plane.

The datasheet 4.1.1 says ASIC processes those IR reflection to generate an IR frame.

Could you explain in more detail about how does ASIC generate/perform the pixel values in IR frame that we captured.

Thank you.

[idata]

Hi Cheweilin,

I was investigating about the ASIC, and I didn't find any information related to your question. I will ask about this, and I will let you know when I have something.Have a nice day.Regards,Leonardo R.

[idata]

Hi Cheweilin,

I investigated about this, and all the information about the SR300 and how it works is available in the datasheet, we cannot give more details due to the proprietary nature of the information.I appreciate your patience.Regards,Leonardo R.

[LPaul2]

Hi Leonardo,

Ok.. I understand.

Thanks a lot for your help and patience !

Sincerely,

[idata]

Hi Cheweilin,

It really was a pleasure to help you.Feel free to contact us when you have doubts.Regards,Leonardo R.