Intel® RealSense™ D400 Series/SR300 Viewer User Guide Revision 002 May 2018 Document Number: 337495-002
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Contents 1 Introduction .................................................................................................... 6 Purpose and Scope of this Document........................................................ 6 Reference Documents ............................................................................ 6 2 RealSense™ Viewer Overview ............................................................................ 7 Intended Users ..................................................................
5.3.3 Temporal Filter ...................................................................... 27 5.3.4 Holes Filling Filter ................................................................... 28 Using Filters in Application Code ............................................................ 28 6 Advanced Control........................................................................................... 31 Overview ...........................................................................................
Revision History Document Number Revision Number Description Revision Date 337495 001 • Initial Release May 2018 337495 002 • Added Post Processing Segment May 2018 §§ 5 User Guide
Introduction 1 Introduction Purpose and Scope of this Document This document is the user guide for the Intel® RealSense™ Viewer for Intel® RealSense™ D400 series/SR300 depth modules and cameras. The Intel® RealSense™ Viewer includes support for Windows* and Linux*. Reference Documents Documents Intel® RealSenseTM D400 Series (DS5) Product Family/SR300 Datasheet https://www.intel.com/content/www/us/en/support/articles/000026827.html https://www.intel.
RealSense™ Viewer Overview 2 RealSense™ Viewer Overview Intended Users RealSense™ Viewer Tool is designed for end users/developers to test or evaluate the D400 series/SR300 cameras. Features • Tools works for all Intel® RealSense™ D400 series/SR300 cameras • Tool supports Windows* 10 and Linux* Description RealSense™ Viewer is a sample tool allowing a user access to most camera functionality through a simple, cross-platform UI.
RealSense™ Viewer Usage 3 RealSense™ Viewer Usage Streaming RealSense™ viewer allows the user to select and configure streams for depth, infrared and RGB. This section provides an overview of the parameters that are customizable by the user in the tool. After the user has completed the configuration, they must click button to start streaming. The viewer supports both USB2.0 and USB3.0, so the available configuration parameter will be different due to USB2.0/USB3.0 capability.
RealSense™ Viewer Usage 3.1.1 Preset To assist users Intel has created a series of predefined presets that can be selected according to user’s usage. The initial Preset is “Custom”, which may be the default or a user modified preset. Only when the user actively selects a preset, or loads JSON file, it will be updated in the Preset menu accordingly. A detailed description of the presets are covered in Chapter 4. 3.1.
RealSense™ Viewer Usage 3.1.3 Frame Rate The D400 series camera provides the end user with multiple frame rates to choose from to meet their solution needs. Ranging from 6 to 90 FPS, the supported frame rate will differ depending on the resolution selected. Refer to the D400 Series datasheet, https://www.intel.com/content/dam/support/us/en/documents/emergingtechnologies/intel-realsense-technology/Intel-RealSense-D400-Series-Datasheet.
RealSense™ Viewer Usage Device Information RealSense™ viewer contains simple device information, such as Serial number, firmware version and Product id etc. To display/hide the device information section, click the info button at the top of the configuration panel. The information will be different when connect to different USB type. USB 3.0 USB 2.0 Visualization Within Depth Visualization segment, the RealSense™ viewer provides multiple settings to provide for better visual feedback. 3.3.
RealSense™ Viewer Usage valid depth pixel range from 45cm ~ 4m+, then the 45cm pixel is colored in blue and 4m+ pixels is colored in red. 45 ~ 120cm 3.3.1.2 45cm ~ 4m+ Fixed The color change is proportional to the distance between device min-z to 6m. 45 ~ 120cm 3.3.1.3 45cm ~ 4m+ Near The color changes proportionally only in short range within around 1.5m, distance further than 1.5m will be in similar color.
RealSense™ Viewer Usage 3.3.1.4 Far The color changes proportionally starting from 6m to as far as camera can see. 3.3.2 Color Scheme Different color representation. 3.3.2.1 Histogram Equalization Histogram equalization makes the color changes proportionally within the available valid pixel value range, just like the Dynamic preset. Disabling the feature will cause the color representation changes based on the min/max distance configuration.
RealSense™ Viewer Usage Enabled 3.3.3 Disabled Min Distance The minimum distance for color visualization. 3.3.4 Max Distance The maximum distance for color visualization. Recording Video recording can be used as input resource for issue reduplication and debug. To record the video, click the button. To stop recording, click the button and the recording will be saved. You can check the output panel to view where it is being saved to.
RealSense™ Viewer Usage Playback Select the recorded .bag file as input source by clicking button at left-top corner, the playback contains the configuration of stream when recording was being made, such as preset, exposure, laser power etc. The playback can then be treated the as streaming from camera to apply any post processing and change the visualization.
RealSense™ Viewer Usage §§ User Guide 16
Preset 4 Preset Overview The Intel® RealSense™ Viewer tool supports several predefined depth presets that can be selected according to the user's requirements. The predefined presets are listed in the table below. The table explains some of the recommended use cases for each predefined preset. There are also examples of images with each preset and a corresponding JSON file. Preset Table Note: Some of the presets are different based on the resolution and some are the same for all resolutions.
Preset Additional Presets not in the Viewer: Preset Use Case JSON File Vacuum Cleaner ShortRangePreset.json Body Scan BodyScanPreset.json Remove IR pattern D415_RemoveIR.json Example Pictures Refer to the example pictures below captured with the various presets. The depth presets are evaluated and compared based on: • Depth quality based on a 3D scene configured to include a variety of object types, textures, and distances.
Preset 4.3.1.1 D415 Camera 4.3.1.2 D435 Camera 4.3.2 Corresponding Depth Image Using Presets • Default Preset Best visual appeal, clean edges and reduced Point Cloud spraying.
Preset 4.3.2.1 D415 Camera 4.3.2.2 D435 Camera 4.3.3 High Accuracy Preset High confidence threshold value of depth, lower fill factor.
Preset 4.3.3.1 D415 Camera 4.3.3.2 D435 Camera 4.3.4 High Density Preset Higher fill factor which views more objects.
Preset 4.3.4.1 D415 Camera 4.3.4.2 D435 Camera 4.3.5 Medium Density Preset Balance between fill factor and accuracy.
Preset 4.3.5.1 D415 Camera 4.3.5.2 D435 Camera 4.3.6 Hand Gesture Preset Hand tracking and gesture recognition.
Preset 4.3.6.
Preset 4.3.6.
Post Processing 5 Post Processing Overview Librealsense implementation includes post-processing filters to enhance the quality of depth data and reduce noise levels. All the filters are implemented in the library core as independent blocks to be used in the customer code Design and Implementation Post-processing modules are encapsulated into self-contained processing blocks, which provide for the following key requirements: 1. 2.
Post Processing 5.3.1.1 Filter Controls 5.3.2 Spatial Filter *The implementation is based on paper by Eduardo S. L. Gastal and Manuel M. Oliveira. Key characteristics: • • 1D edge-preserving spatial filter using high-order domain transform. Linear-time compute, not affected by the choice of parameters. The filter performs a series of 1D horizontal and vertical passes or iterations, to enhance the smoothness of the reconstructed data. 5.3.2.1 Filter Controls 5.3.
Post Processing 5.3.3.1 Filter Controls 5.3.4 Holes Filling Filter The filter implements several methods to rectify missing data in the resulting image. The filter obtains the four immediate pixel "neighbors" (up, down, left, right), and selects one of them according to a user-defined rule. 5.3.4.1 Filter Controls Using Filters in Application Code The post-processing blocks are designed and built for concatenation into processing pipes.
Post Processing ** Applicable for stereo-based depth cameras (D4XX). Note: Even though the filters order in the demos is predefined, each filter is controlled individually and can be toggled on/off at run-time. Demos and tools that have the post-processing code blocks: 1. RealSense-Viewer 2. Depth Quality Tool 3.
Post Processing ... // Declare filters rs2::decimation_filter dec_filter; rs2::spatial_filter spat_filter; // Configure filter parameters decimation_filter.set_option(RS2_OPTION_FILTER_MAGNITUDE, 3); ... spatial_filter.set_option(RS2_OPTION_FILTER_SMOOTH_ALPHA, 0.55f); ... // Main Loop while (true) { rs2::frameset data = pipe.wait_for_frames(); rs2::frame depth_frame = data.get_depth_frame(); ...
Advanced Control 6 Advanced Control Overview The user can modify the settings via the Advanced Mode menu and save a customized user preset. All the settings can be saved and loaded via the tool's menu. Intel® use machine learning algorithms and capture of ground truth datasets to optimize preset for certain conditions, and we may add more presets in the future. The developers can do this too, or just start adjusting the parameters by hand, but Intel® does not provide guidance on this.
Additional Reference 7 Additional Reference • RealSense Website: https://realsense.intel.com/ • RealSense White Paper: https://realsense.intel.
