Extract the pixel data of each frame

[Amayess]

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Required Info
Camera Model	D400
Firmware Version	05.13.00.50
Operating System & Version	Win 10
Platform	PC
SDK Version	2.50.0.0 }
Language	C++
Segment	Robot

Issue Description

Hi @MartyG-RealSense, I am looking for a way to extract the pixel coordinates (x,y,z) of the first 40 frames, so far now i have been able to extract the pixel data using the RealSense example "Rs-hello" that i modified like this :

Is it possible to have an access to the whole data information of each pixel for each frame ? Thank you

[MartyG-RealSense]

Hi @Amayess You can obtain the XYZ of a specific pixel by converting a color pixel to a depth pixel with rs2_project_color_pixel_to_depth_pixel. A C++ example can be found at #2982

If you wish to be able to access the XYZ of all coordinates then generating a point cloud and storing its vertices with the points.get_vertices() instruction to retrieve XYZ from the vertices may a helpful approach, as described at #1783 and #5728

[Amayess]

Hi @Amayess You can obtain the XYZ of a specific pixel by converting a color pixel to a depth pixel with rs2_project_color_pixel_to_depth_pixel. A C++ example can be found at #2982
That's what i found too, thank you !
If you wish to be able to access the XYZ of all coordinates then generating a point cloud and storing its vertices with the points.get_vertices() instruction to retrieve XYZ from the vertices may a helpful approach, as described at #1783 and #5728

What if i want to get the distance between every points or pixels contained in a depth frame ?

[MartyG-RealSense]

The SDK has a C++ example program called rs-measure that can measure the real-world distance between two points. So conceivably you could find the distance between any two points from coordinate A to coordinate B by changing the values of A and B to the coordinates that you want to compare the distance between.

https://github.com/IntelRealSense/librealsense/tree/master/examples/measure

[MartyG-RealSense]

Hi @Amayess Do you require further assistance with this case, please? Thanks!

[Amayess]

Hi @MartyG-RealSense, I am still working on it.

Can I close it when i will finish ? Thank you

[MartyG-RealSense]

Yes, it is fine to close it when you are ready to do so. Thanks very much for the update!