6 Replies Latest reply on Feb 17, 2017 3:41 AM by mckie

    R200 : xyz coordinates and 628*468 to 640*480

    mckie

      I use RealSense R200 .  I want to convert  depth's 628*468 to 640*480 and to get 3D world coordinates(x,y,z) .

      I cloud use CreateDepthImageMappedToColor regarding convert.

      Next task isn't.

      I certainly used  QueryVertices. I use like:

       

              PXCImage* depthIm = projection->CreateDepthImageMappedToColor(sample->depth,sample->color);

              projection->QueryVertices(depthIm,vertices.data());

       

              PXCImage::ImageInfo aa = sample->depth->QueryInfo();

       

       

      But,vertices' x,y,z is all zero.And I confirmed aa.format is PIXEL_FORMAT_DEPTH_RAW

       

      I try :

      depthIm->AcquireAccess(Intel::RealSense::ImageAccess::ACCESS_READ, Intel::RealSense::PixelFormat::PIXEL_FORMAT_DEPTH, &ddata);

       

      ddata.planes[0] is got data of 640*480.

       

      I think ddata.planes[0] == vertices.z ,Right?

       

      And I try another way:

       

              PXCImage* depthIm = projection->CreateDepthImageMappedToColor(sample->depth,sample->color);

              projection->QueryVertices(sample->depth,vertices.data());

       

      Then , I can get vertices' x,y,z data. But 628*468.

       

      Please response.

      Thank you.