如何从D435获取16位深度图像？

我尝试用D415复制你的设置，但不管我做了什么，Z16 PNG深度图像快照的位值总是24位。
对不起，我无法重现你的问题。



以下为原文

I tried replicating your settings with my D415 but no matter what I did, the bit value of the Z16 PNG depth image snapshot was always 24 bit.  I'm sorry that I couldn't recreate your problem.

嗨MartyG。
你是对的，png是24位，但它有3个通道（RGB，矩阵为240 x424），每个通道有8位（每个通道从0到255），因为它是灰度图像R = G =
B.
所以最后你只有一个8位的通道。
如果它是16位图像，则值的范围将是0到65535（2 ^ 16）。
240x424的值取决于您在realsense查看器中指定的分辨率（在我的上一张图像中为1280x720）。



以下为原文

Hi MartyG. You are right, the png is of 24 bits but it has 3 channels (RGB, which are matrices of 240 x424 ) each one of 8 bits (from 0 to 255 per chanel) and as it is a gray scale image R=G=B. so at the end you only have one chanel of 8 bits.
If it were a 16 bits image the range of values would be from 0 to 65535 (2^16).
The value of 240x424 depends on the resolution you specify on the realsense viewer (in my last image it was of 1280x720).

我对你的问题进行了长时间的进一步调查，但遗憾的是无法制定解决方案，所以我必须让其他人试着回答它。
我很抱歉。
祝你好运！



以下为原文

I did a lengthy further investigation of your issue but was unfortunately unable to develop a solution, so I will have to let someone else have a try at answering it.  I do apologize.  Good luck!

谢谢你的时间MartyG。
***455。



以下为原文

Thanks for your time MartyG.
 
***455.

嗨，
根据查看器的这种错误的PNG文件格式？
·问题＃815·IntelRealSense / librealsense·GitHub，现在只支持24位RGB PNG。我认为它可以保存彩色深度图像。
使用RAW可能会更好。
-Gabor



以下为原文

Hi,
 
According to this Incorrect PNG file format for Viewer? · Issue #815 · IntelRealSense/librealsense · GitHub, only 24-bit RGB PNG is supported now.
I think it saves the colorized depth image. You might be better off with the RAW.
 
-Gabor

Depth.Raw是16位灰度。
它可以由ImageJ（NIH的免费/跨平台）导入为16位Signed，使用little-endian字节顺序，File-> Import-> Raw。
从那里你可以以任何你想要的格式导出它。



以下为原文

Depth.Raw is 16 bit grayscale.  It can be imported by ImageJ (free/cross-platform from NIH) as 16-bit Signed, using little-endian byte order, with File->Import->Raw.
 
From there you can export it in whatever format you want.

它是未签名还是签名？
无符号为我提供正确的深度值。



以下为原文

Is it unsigned or signed? Unsigned gives correct depth values for me.

我一直在ImageJ中使用带符号的16位。
今天尝试未签名，它给出了相同的结果。
我的立体声分析沿z轴（在查看器透视图中）给出了32位负值...所以我最终还是将Depth.raw文件转换为32位。



以下为原文

I have been using signed 16-bit in ImageJ.  Tried un-signed today and it gives identical results.  My stereo analysis gives 32-bit negative values along the z-axis (in the viewer perspective)... so I end up converting Depth.raw files to 32-bit anyway.

保存深度​​图像的快照时，您将获得3个文件（* .png，* .raw，* .csv）
png文件是*不是深度图像！
您可以在原始文件中找到的实际深度数据。
您可以使用以下脚本将其加载到Matlab：
fid = fopen（“FilesName.Raw”）;
Depth = fread（fid，[1280 720]，'* uint16'）';
FCLOSE（FID）;



以下为原文

When you save snapshot of the depth image, you will get 3 files (*.png, *.raw, *.csv)
the png file is *not* the depth image!
The actual depth data you can find in the raw file.
 
you can load it to Matlab with the following script:
 
 
 
fid = fopen("FilesName.Raw");
Depth = fread(fid, [1280 720], '*uint16')';
fclose(fid);
 
 
 

谢谢@RoobiDahan
我实现了你在matlab上建议的代码：
我使用[848 480]，因为我在获取数据时在realsense查看器上使用了此配置。
我从原始文件得到的结果是这样的：
图像就像“重复”一样，正如您在matlab工作区中看到的那样，它的大小为120x848，应该是480x848，
图像内容似乎没问题，但它的大小不应该是它的大小。
你知道我怎么解决这个问题？



以下为原文

Thank you @RoobiDahan
 
I implemented the code you suggested on matlab:
 

 
I used [848 480] because I used this configuration on the realsense viewer when I obtained the data.
 
The result I get from the raw file is this:
 

 
 
The image is like "duplicated", and as you can see in the workspace from matlab, its size is 120x848, when it should be 480x848,
The image content seems to be ok, but it is not of the size it should be.
 
Do you know how can I fix this issue?

嗨@rjo__
我按照你的建议使用imageJ打开.raw文件，获得以下结果：
obteined图像似乎是重复的，不是848x480（它应该是848x480，因为我在获取数据时在realsense查看器中指定了它）。
你知道我怎么解决这个问题？



以下为原文

Hi @rjo__
 
I used imageJ to open the .raw file, as you suggested, obtaining the following result:
 
 

 

 
The obteined image, seems to be duplicated and is not 848x480 (It should be 848x480 because I specified it in the realsense viewer when I obtained the data).
Do you know how can I fix this problem?

不，我没有，
但尝试使用此代码创建与查看器的png图像的近距离图像，这样您现在可以丢失文件的哪个部分或文件可能已损坏。
newDepthRaw = double（sort（DepthRaw（:)））;
newDepthRaw（newDepthRaw == 0）= [];
newDepthRaw = newDepthRaw（1：round（length（newDepthRaw）* 0.95））;
Imin = min（newDepthRaw（:)）;
Imax = max（newDepthRaw（:)）;
newDepthRaw =（double（DepthRaw） - Imin）/（Imax - Imin）;
newDepthRaw（newDepthRaw 1）= 1;
A =喷射;
A（1,3）= 0;
数字;
于imagesc（newDepthRaw）;
颜色表（A）;
DepthRaw - 是您加载的深度文件。



以下为原文

No I didn't,
 
but try to use this code to create close image to the png image of the viewer, this way you could now what part of the file is missing or maybe the file is corrupt.
 
 
 
 
newDepthRaw = double(sort(DepthRaw(:)));
 
newDepthRaw(newDepthRaw == 0) = [];
 
newDepthRaw = newDepthRaw(1:round(length(newDepthRaw)*0.95));
 
Imin = min(newDepthRaw(:));
 
Imax = max(newDepthRaw(:));
 
newDepthRaw = (double(DepthRaw) - Imin)/(Imax - Imin);
 
newDepthRaw(newDepthRaw < 0) = 0;
newDepthRaw(newDepthRaw > 1) = 1;
 
 
 
A = jet; A(1,3) = 0;
 
 
figure; imagesc(newDepthRaw); colormap(A);
 
 
DepthRaw - is the depth file you load.