how to know the depth range of a realsense camera

[Issayas_T_]

  hello 

  i am working on intel realsense camera to detect and avoid obstacles. i some how converted the pxcimage to a mat format for further processing.

 i want to know how to find the depth range of the realsense camera (R200) that i am using. i am using c++ as a programming language.

   thanks in advance 

[jb455]

I haven't been able to find a way of getting the range from the camera directly, so what I've been doing when I've needed the max/min range is getting the depth values from each frame, finding the max and min and comparing that with the largest and smallest values found in previous frames.
Something like this:

minDistance = Math.Min(minDistance, depthPixels.Where(x => x > lowConfidence).DefaultIfEmpty(short.MaxValue).Min());

Benefit of this is that you get the values experimentally, instead of just what may be hard-coded into the camera (I've found that the range can be much better than what they officially state), drawback is that you only get the closest and furthest things you've seen so far, so if you need to use the range in the first few frames it may not be so accurate.