IVCAM v0.5 is a free utility that I made that allows you to do the following with your Intel RealSense F200 camera:
- Read and write camera and laser projector settings.
- Display depth, XYZ (color coded), or IR streams in real time while you are changing those settings.
Requirements are either:
a) Laptop with a built-in RealSense F200 camera
or
b) Computer with the following:
- 32 or 64 bit Windows 8.1 or Windows 10.
- DCM installed (to use the USB version of the F200 camera).
This is how it currently looks:
You can download it from here:
http://www.samontab.com/web/files/ivcam.zip
Link kopiert
OK, here is how this camera works:
The Intel RealSense camera has an IR laser projector that emits IR light into the scene. There is an IR camera that reads the emitted pattern. Based on the displacement of the pattern due to objetcs in the scene, it can calculate the distance of the objects from the camera. This method of calculating depth in general is know as structured light, and this is the way other 3D cameras, like the kinect, work.
In the following image you can see the IR light being emitted by the camera into a wall that was a few cms away. (I expected a pincushion distortion in both axes, but it seems that only the vertical axis is distorted).
Now, about the IVCAM settings:
The LaserPower argument basically allows controlling the intensity of this laser projection, from powered off at 0 up to 16 at maximum power. Usually you will be using this setting at 16.
MotionRangeTradeOff: The difference here is that the pattern used in this camera is not a fixed set of points as is the case with the kinect, but instead is a moving pattern, from top to bottom. It seems that the rate at how the patttern is projected is controlled by this setting. The longer the number, the longer the vertical pattern gets stretched, so less patterns per second are being emitted and detected. This allows to gather more light, and therefore to detect objects farther away, but when they move, you don't detect the pattern correctly so no depth info for fast moving objects far away. The reverse is true for smaller numbers. You can think of this parameter as exposure time in normal camera terms.
Here is an image of the pattern. Because the image was exposed for too long (normal camera rates, like 30fps for example), the pattern looks blurred in the vertical direction, but some information can be seen in the horizontal axis.:
If you decrease the exposure time, you can actually see the pattern that is being projected into the wall:
Note that the pattern is projected so that it is seen straight, even though the illuminated area is not.
Accuracy: This parameter changes between 3 types of projected patterns, from coarse up to fine grained.
FilterOption: I think this parameter is only for the post processing and creation of the depth map. Given the initial points, with this option you select the method to interpolate the rest of the frame. Here there are a few different option. Look at the SDK manual for more details on this.
I hope these parameters make a bit more sense now.
Hi guys,
I just updated this tool:
IVCAM v0.2
- Updated camera frame access for better performance.
- Added DepthConfidenceThreshold to the controls.
- Added individual buttons to set a feature to its default value.
- Added tool tips explaining the feature values.
- Added IR Camera information details.
Here is a screenshot of it, showing a longer range capability by tweaking the parameters:
This version should work better in general than the previous one. So if you had any issues before, give it a try again.
You can still get it at the same place:
Another update to this tool:
IVCAM v0.3
- Added XYZ camera stream (Lab color space coded image based on XYZ position of each pixel, X and Y for color, Z for lightness)
- Updated depth stream view to display the entire depth range correctly (You should now see more gray scale tones, not mostly just black and white as it was before)
- Minor bug fixes
You can still get it at the same place:
