How does an Intel D455 camera take a RGB pictures with depth information

[junmoxiao11]

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Required Info
Camera Model	{ D455 }
Firmware Version	5.15.1
Operating System & Version	Win 11
Kernel Version (Linux Only)
Platform	PC
SDK Version
Language	python }
Segment	{others }

Issue Description

How does an Intel D455 camera take a RGB pictures with depth information. Take pictures instead of videos.

[MartyG-RealSense]

Hi @junmoxiao11 If you wish to export a depth frame to an image file then #2877 discusses saving the frame to a .PNG image file with Python code.

Most of the depth information is lost when saving to .PNG though. You can instead preserve the depth information by saving to the .RAW image file format instead, as demonstrated in the Python code at IntelRealSense/realsense-ros#1312

[junmoxiao11]

In the example you gave me, I didn't find the answer I was looking for. What I need is to take a picture like .PNG foemat, which can be clicked directly to open and crop the picture. And the picture must contain depth information. After I crop the image, the pixels still retain the corresponding depth value.

[MartyG-RealSense]

The RealSense SDK does not have built-in functions for cropping an image horizontally and vertically. You would likely have to use OpenCV code to implement that.

[junmoxiao11]

Do you have any python code to crop these pictures?

[MartyG-RealSense]

#6267 (comment) suggests a Python approach to XY image cropping using Open3D

The link below has an OpenCV approach to cropping.

https://stackoverflow.com/questions/68576101/i-want-to-crop-a-depth-frame-and-get-a-cropped-depth-frame-so-that-i-can-apply-s

[junmoxiao11]

Are the left and right cameras of the Realsense D455 camera based on visible or infrared imaging?

[MartyG-RealSense]

They are infrared sensors. However, on the D455 model the left infrared sensor can also provide an RGB image.