Access Color Stream from Left Imager in UYVY [16 bits] format about librealsense HOT 6 OPEN

Hi @adamhippoharvest Yes, the D455 model does not have an IR filter on its left and right infrared sensors, so they can see the full visible and near-IR frequency range.

On RealSense 400 Series camera models that support the feature (which includes D455) you can access the 'RGB color from left infrared sensor' image by defining a custom 'cfg' stream configuration for the left infrared stream in your script and setting it to use UYVY, RGB8 or BGR8 format instead of the Y8 infrared format. UYVY will be monochrome RGB rather than color though.

I could not find a past case of using the UYVY format for IR RGB, but the format is supported for it. The cfg code for doing so would likely be like the one below.

cfg.enable_stream(rs.stream.infrared, 848, 480, rs.format.uyvy, 30)

Below is a UYVY monochrome color image from the left IR sensor streamed in the RealSense Viewer tool on a D455 camera.

from librealsense.

That makes sense, thanks. I just want to confirm then that this is a monochrome image, and there's no way to get a three channel image, such as doing something like this:

    cfg.enable_stream(rs.stream.infrared, 848, 480, rs.format.uyvy, 30)
    pipeline.start(config)
    frames = pipeline.wait_for_frames()
    uyvy_frame = frames....[not sure what to put here]...
    uyvy_image = np.asanyarray(uyvy_frame.get_data())
    bgr_image = cv2.cvtColor(uyvy_image, cv2.COLOR_YUV2BGR_UYVY)

from librealsense.

You can retrieve a raw unprocessed RAW16 RGB image directly from the RGB sensor and convert it to an OpenCV format to make it displayable, as described in the Python cases at #7275 and #11451

from librealsense.