How to get true depth from depth data

[Xue21]

I get the depth data with D435i, it's encoding is16UCI, How can I get the true depth value?

[MartyG-RealSense]

Hi @Xue21 The real-world distance in meters can be found by multiplying the 16-bit depth value by the Depth Unit Scale of the camera. The depth unit scale value of the D435i is 0.001. So if the 16-bit depth value was 6500 and it was multiplied by 0.001, the real-world depth would be 6 meters.

[MartyG-RealSense]

If you wish to export color as an image, a Python script at #4934 (comment) exports color as a PNG image file and depth as an array of scaled matrices saved as an .npy file, whilst a script at #2877 (comment) exports both depth and color as PNG images.

[MartyG-RealSense]

Hi @Xue21 Do you require further assistance with this case, please? Thanks!

[MartyG-RealSense]

Case closed due to no further comments received.