opencv realsense 16 bit depth image

Question

I have a realsense camera and I'm trying to read a 16 bit depth image. I have a problem - when I create direct opencv mat with 16 bit values I see only black image. When I convert 16 bit image to 8 bit with 255/1000 scale, I get normal image, but I don't want to lose that information.

depthImage->AcquireAccess(PXCImage::ACCESS_READ, PXCImage::PIXEL_FORMAT_DEPTH, &depthImgData);

pxcBYTE* cpixels = depthImgData.planes[0];

Mat r_depth(frameSize, CV_16UC1, cpixels);

Here's my code, where I convert image.

Could you please tell me what is the reason of such behaviour and how to get 16 bit image?

Answer 1

which RealSense device do you use? R200, LR200, SR300 or D410?

Suggest to use the librealsense library/APIs which is maintained on GitHub. Configure the depth format to RS2_FORMAT_Z16. And, I use below code to get 16bit depth data.

auto frame = queue.wait_for_frame();

Mat depth16(Size(640, 480), CV_16U, (void*)frame.get_data(), Mat::AUTO_STEP);