Data
Output data for each depth camera sensor.
Public Fields
AmbientRawDepthImage
This is the raw depth camera sensor data captured without the depth camera illumination and corresponds to the amount of ambient light incident on the sensor.
public FrameBuffer AmbientRawDepthImage { get; set; }
| Type | Description |
|---|---|
| FrameBuffer | Per-plane info for each depth camera frame. |
ConfidenceBuffer
public FrameBuffer ConfidenceBuffer { get; set; }
| Type | Description |
|---|---|
| FrameBuffer | Per-plane info for each depth camera frame. |
Details*
Confidence map stores the confidence values for each pixel in the DepthImage buffer. The confidence score is derived from the sensor noise and it is not normalized. The higher the value the higher the confidence. Applications can determine what confidence threshold to use based on their use case.
Cast the FrameBuffer.Data to float data type.
DepthFlagsBuffer
Each pixel in the DepthImage frame buffer will have an associated set of flags.
public FrameBuffer DepthFlagsBuffer { get; set; }
| Type | Description |
|---|---|
| FrameBuffer | Per-plane info for each depth camera frame. |
DepthImage
public FrameBuffer DepthImage { get; set; }
| Type | Description |
|---|---|
| FrameBuffer | Per-plane info for each depth camera frame. |
Details*
Depth map stores the depth data from the depth camera. Depth is represented in meters and gives the radial distance of the real world location from the depth camera coordinate frame. See Intrinsics, Position, and Rotation for more details.
Cast the FrameBuffer.Data to float data type.
FrameNumber
A 64bit integer to index the frame number associated with this frame.
public long FrameNumber { get; set; }
FrameTimestamp
Frame timestamp specifies the time at which the frame was captured.
public MLTime FrameTimestamp { get; set; }
| Type | Description |
|---|---|
| MLTime | Represents an ML API wide timestamp in nanoseconds that is not guaranteed to be synced with any system time. If OpenXR is used, MLTime is synonymous with the XrTime type. |
FrameType
Depth camera mode used for capturing this frame.
public FrameType FrameType { get; set; }
| Type | Description |
|---|---|
| FrameType | Depth Camera frame capture types |
Intrinsics
Camera intrinsic parameters
public Intrinsics Intrinsics { get; set; }
| Type | Description |
|---|---|
| Intrinsics | Depth camera intrinsic parameters. |
Position
World position of the depth camera pose
public Vector3 Position { get; set; }
RawDepthImage
This is the raw depth camera sensor data captured with the depth camera illumination and corresponds to the amount of total light incident on the sensor.
public FrameBuffer RawDepthImage { get; set; }
| Type | Description |
|---|---|
| FrameBuffer | Per-plane info for each depth camera frame. |
Rotation
World rotation of the depth camera pose
public Quaternion Rotation { get; set; }