Zed.retrieve Measure

[Siri]

Toextract the depth map of a scene, use grab() to grab a new image and retrieveMeasure() to retrieve the depth aligned on the left image. retrieveMeasure() can be used to retrieve a depth map, a confidence map, or normal map, or a point cloud.

By default, depth values are expressed in millimeters. Units can be changed using InitParameters::coordinate_units. Advanced users can retrieve images, depth and points clouds either in CPU memory (default) or in GPU memory using retrieveMeasure(*, *, MEM_GPU).

The 32-bit depth map can be displayed as a grayscale 8-bit image. To display the depth map, we scale its values to [0, 255], where 255 (white) represents the closest possible depth value and 0 (black) represents the most distant possible depth value. We call this process depth normalization. To retrieve a depth image, use retrieveImage(depth, VIEW::DEPTH). Do not use the 8-bit depth image in your application for other purposes than displaying depth.

The point cloud stores its data on 4 channels using a 32-bit float for each channel. The last float is used to store color information, where R, G, B, and alpha channels (4 x 8-bit) are concatenated into a single 32-bit float. You can choose between different color formats using XYZ. For example, BGRA color is available using retrieveMeasure(point_cloud, MEASURE::XYZBGRA).

To improve the performance of your application and speed up data acquisition, you can retrieve a lower resolution measure by specifying the width and height parameters in retrieveMeasure(). You can also specify where you would like to have the data available, in CPU (RAM) or GPU memory.

Hi everyone! I was successfully able to export a ply file from my D435 using Pyrealsense 2, now I want to measure some distances among points belonging to the pointcloud and the POV (also the distance between the camera frame plane and the point is ok) of the camera, but I'm missing some informations.

and I read (somewhere, apologise I can't recover the link) that depth_scale*depth_pixel_value=distance_in_meters (is this right? PLEASE CONFIRM), I then assume that my "depth_pixel_value" is the Z coordinate of the point.

I'm working with ply files, in this format for every point i have three coordinates, e.g. for a point p I have p[x]=0.5, p[y]=0.41, p[z]=0.21, with your link I realized that the origin (0,0,0) is the left imager but I still miss how to retrieve the position of point p in meters [m].

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