Hi Daniel,
On Mon, 11 Jan 2016, Daniel Johnson wrote:
> On Sat, Jan 9, 2016 at 2:27 AM, Guennadi Liakhovetski
> <g.liakhovetski@xxxxxx> wrote:
> > Hi Mauro,
> >
> > Ping - what about this patch? If there are no comments - would you like me
> > to push it via my tree?
>
> In testing the V4L2_PIX_FMT_Z16 ('Z16 ') format documentation seems to
> be incomplete.
>
> uvc_xu_control_query unit=2 selector=4 seems to be a z scale factor.
> Changing the value of that control greatly changes the value of
> pixels. Millimeters seems to be correct for the default value of that
> control. This control is on the /dev node for the infrared camera
> rather than the node using the Z16 depth format.
Thanks for your comments. Let me point out though, that the purpose of
those patches isn't a complete programmers guide of those RealSense
cameras, rather giving minimum boot-up info. Providing more information
would require significantly more work.
Thanks
Guennadi
> The one thing that every depth camera I've ever used has in common is
> factory calibration. Translating pixel values to Z is only 1/3 of what
> is needed to translate a depth image into a point cloud. The
> calibration is needed to translate X and Y pixel indexes into
> positions in 3d space. Documentation on fetching, and parsing the
> factory calibration would make the camera much more usable.
>
> Documentation on the 21 UVC controls would be helpful, but less
> critical than the calibration data.
>
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