RGB-D Stream

RGB-D Streams contain the current color and depth data from a suitable source. The content is presented as individual parts, i.e. one 8bit color image and one float depth image, and updates every time the source provides new data. An optional third image containing the infrared image used for computing the depth may also be present.

The stream is usually live and connected to a specific device providing the frame data.

Settings and properties

Various settings of the device connected to the stream, like resolution and exposure time, can be configured using Stream Properties. Additionally, information about the stream source and the frame formats can be seen in the RGB-D Data Component

Creating an RGBD Stream

The most common way of creating this type of stream is by using the RGB-D Sensor Stream IO Algorithm to open a connected RGB-D device. See the documentation of this algorithm for a list of supported devices.