R200 infrared and depth

[minxiang_y_]

Hi guys.  I am confused about the infrared and depth images from R200 camera.

See the snapshots below:

Why infrared image is like that and so does depth image? These are different from F200 camera.

[Xusheng_L_Intel]

Could you explain more detail? What is the different between F200 and R200 as you observed? 

[SMali10]

From what I can tell the F200 and the R200 use different techniques to calculate depth. The F200 uses a specific laser pattern that appears as a grid in the IR image, while the R200 is a speckle image, similar to the first generation Kinect.

Additionally the R200 has two IR cameras that calculate depth. Looking at those images, it looks like the IR image is from the left camera, and the depth image is from the right camera.

[samontab]

I was going to answer the same thing.

They seem to use different IR emitters.

The F200 allows control over timing of the pattern, whereas R200 allows control over location of the pattern (to get better resolution at different depths). Interesting.

[minxiang_y_]

How could I clean the speckles for infrared?

[samontab]

You could just disable the emitter:

https://software.intel.com/sites/landingpage/realsense/camera-sdk/v1.1/documentation/html/index.html?setdsenableemitter_device_pxccapture.html

[Lesly_Z_]

how to acquire a good quality in depth image?

[samontab]

Control lighting in the scene, control IR emmiter, and control exposure time.

Basically, R200 is a stereo camera, so it needs to see features in both sensors correctly to have a good depth image. If it is under or overexposed, you'll have a bad quality depth image.

[Lesly_Z_]

this is the image I am getting.