RGB-D Data Component

RGB-D Data component is an essential piece of information required by most of RGB-D algorithms. This component can be attached to any data, for example image set or point cloud. It specifies the settings of the RGB-D camera used to produce this data. Use “Inspect Properties” to view the available data components.

Contents of RGB-D Data Component

depthWidth - width of an image captured by the depth camera.

depthHeight - height of an image captured by the depth camera.

depthK - intrinsics of the depth camera.

depthDistortionModel - distortion model of the depth camera.

depthDistortion - distortion coefficients of the depth camera.

colorWidth - width of an image captured by the color camera.

colorHeight - height of an image captured by the color camera.

colorK - intrinsics of the color camera.

colorDistortionModel - distortion model of the color camera.

colorDistortion - distortion coefficients of the color camera.

depthToColorT - transformation converting coordinates from the depth camera coordinate system to the color camera coordinate system.

sensorT - transformation converting coordinates from the coordinate system of a depth camera to the coordinate system of a reference depth camera (might make sense in the context of multiple RGB-D cameras)

pose - camera pose, i.e. transformation from coordinates in the world coordinate system to coordinates of the depth camera coordinate system

serial - serial number of the camera

description - optional comments

Creating an RGB-D Data Component

Most of the available RGB-D algorithms will create and attach RGB-D Data Component to the data when needed. However, if the input data was loaded and not created by the algorithms, the RGB-D Data Component might need to be added explicitely. To do that, one can use Add DataComponent from the “Inspect Properties” window.