RealSense TOP

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Summary

The RealSense TOP connects to Intel RealSense devices and outputs color, depth and IR data from it.

See also RealSense for hardware information and installation instruction, and the RealSense CHOP.

PythonIcon.pngrealsenseTOP_Class


Parameters - Setup Page

Active active -

Model model - - Select the model of device to use, F200, R200, or SR300.

  • F200 f200 -
  • R200 r200 -
  • SR300 sr300 -

Sensor sensor - Select the device to use.

Image image - - Select the image type to output.

  • Color color - The video from the color sensor.
  • Depth depth - The calculated depth value for each pixel. The data is re-range to be between 0 and the 'Max Depth' parameter, specified in Meters. A pixel value of 0 means 0 meters from the camera while a pixel value of 1 means 'Max Depth' or more pixels from the camera.
  • Raw Depth rawdepth - The raw depth value for each pixel from the SDK. Not well documented by the SDK. The data is re-range to be between 0 and the 'Max Depth' parameter, specified in Meters. A pixel value of 0 means 0 meters from the camera while a pixel value of 1 means 'Max Depth' or more pixels from the camera.
  • Visualized Depth visualizeddepth - The depth values as output from the SDK when requesting a RGBA image. This output is useful for visualizing the depth, but the pixels values are dyanmically re-ranged by the SDK so it can't be used to determine a pixel's actual depth from the camera.
  • Depth To Color UV Map depthtocoloruv - A RG 32-bit float texture that is the UV values needed to remap the Depth image to line up with the Color image. Use a Remap TOP with this and the Depth image to produce something that will be aligned with the Color image.
  • Color To Depth UV Map colortodepthuv - A RG 32-bit float texture that is the UV values needed to remap the Color image to line up with the Depth image. Use a Remap TOP with this and the Color image to produce something that will be aligned with the Depth image.
  • Infrared infrared - The raw video from the infrared sensor.
  • Point Cloud pointcloud - Literally a cloud of points in 3d space (X, Y, Z coordinates) or data points created by the scanner of the RealSense Camera.
  • Point Cloud Color UVs pointcloudcoloruv - Which can be used to get each point’s color from the Color image stream.
  • Segmented Color (with Alpha) segmentedcolor - Which outputs masked color image of the detected person in front of the camera.

Color Camera Resolution colorres - Select the resolution of the video. Currently only usable for the Color image.

Max Depth maxdepth - The depth value pixels with a value of 1 will be set to. Specified in Meters. Pixels with a depth larger than this will be clamped to 1 for fixed point texture output, or go above 1 for floating point output.  

Mirror Image mirrorimage - Flip the image horizontally.

Use Default Tradeoff defaulttradeoff - Use the default Motion Range Tradeoff specified by the device.

Motion Range Tradeoff tradeoff - Specifies the tradeoff between motion and range. Value is from 0 (short exposure, short range, and better motion) to 100 (long exposure and long range).



Parameters - Common Page

Output Resolution outputresolution - - quickly change the resolution of the TOP's data.

  • Use Input useinput - Uses the input's resolution.
  • Eighth eighth - Multiply the input's resolution by that amount.
  • Quarter quarter - Multiply the input's resolution by that amount.
  • Half half - Multiply the input's resolution by that amount.
  • 2X 2x - Multiply the input's resolution by that amount.
  • 4X 4x - Multiply the input's resolution by that amount.
  • 8X 8x - Multiply the input's resolution by that amount.
  • Fit Resolution fit - Multiply the input's resolution by that amount.
  • Limit Resolution limit - Multiply the input's resolution by that amount.
  • Custom Resolution custom - Enables the Resolution parameter below, giving direct control over width and height.

Resolution resolution - Enabled only when the Resolution parameter is set to Custom Resolution. Some Generators like Constant and Ramp do not use inputs and only use this field to determine their size. The drop down menu on the right provides some commonly used resolutions.

Resolution Menu resmenu -

Use Global Res Multiplier resmult - Uses the Global Resolution Multiplier found in Edit>Preferences>TOPs. This multiplies all the TOPs resolutions by the set amount. This is handy when working on computers with different hardware specifications. If a project is designed on a desktop workstation with lots of graphics memory, a user on a laptop with only 64MB VRAM can set the Global Resolution Multiplier to a value of half or quarter so it runs at an acceptable speed. By checking this checkbox on, this TOP is affected by the global multiplier.

Output Aspect outputaspect - - Sets the image aspect ratio allowing any textures to be viewed in any size. Watch for unexpected results when compositing TOPs with different aspect ratios. (You can define images with non-square pixels using xres, yres, aspectx, aspecty where xres/yres != aspectx/aspecty.)

  • Use Input useinput - Uses the input's aspect ratio.
  • Resolution resolution - Uses the aspect of the image's defined resolution (ie 512x256 would be 2:1), whereby each pixel is square.
  • Custom Aspect custom - Lets you explicitly define a custom aspect ratio in the Aspect parameter below.

Aspect aspect- - Use when Output Aspect parameter is set to Custom Aspect.

Aspect1 aspect1 -


Aspect2 aspect2 -

Aspect Menu armenu -

Input Smoothness inputfiltertype - - This controls pixel filtering on the input image of the TOP.

  • Nearest Pixel nearest - Uses nearest pixel or accurate image representation. Images will look jaggy when viewing at any zoom level other than Native Resolution.
  • Interpolate Pixels linear - Uses linear filtering between pixels. This is how you get TOP images in viewers to look good at various zoom levels, especially useful when using any Fill Viewer setting other than Native Resolution.
  • Mipmap Pixels mipmap - Uses mipmap filtering when scaling images. This can be used to reduce artifacts and sparkling in moving/scaling images that have lots of detail.

Fill Viewer fillmode - - Determine how the TOP image is displayed in the viewer. NOTE:To get an understanding of how TOPs work with images, you will want to set this to Native Resolution as you lay down TOPs when starting out. This will let you see what is actually happening without any automatic viewer resizing.

  • Use Input useinput - Uses the same Fill Viewer settings as it's input.
  • Fill fill - Stretches the image to fit the edges of the viewer.
  • Fit Horizontal width - Stretches image to fit viewer horizontally.
  • Fit Vertical height - Stretches image to fit viewer vertically.
  • Fit Best best - Stretches or squashes image so no part of image is cropped.
  • Fit Outside outside - Stretches or squashes image so image fills viewer while constraining it's proportions. This often leads to part of image getting cropped by viewer.
  • Native Resolution nativeres - Displays the native resolution of the image in the viewer.

Viewer Smoothness filtertype - - This controls pixel filtering in the viewers.

  • Nearest Pixel nearest - Uses nearest pixel or accurate image representation. Images will look jaggy when viewing at any zoom level other than Native Resolution.
  • Interpolate Pixels linear - Uses linear filtering between pixels. Use this to get TOP images in viewers to look good at various zoom levels, especially useful when using any Fill Viewer setting other than Native Resolution.
  • Mipmap Pixels mipmap - Uses mipmap filtering when scaling images. This can be used to reduce artifacts and sparkling in moving/scaling images that have lots of detail. When the input is 32-bit float format, only nearest filtering will be used (regardless of what is selected).

Passes npasses - Duplicates the operation of the TOP the specified number of times.

Channel Mask chanmask - Allows you to choose which channels (R, G, B, or A) the TOP will operate on. All channels are selected by default.

Pixel Format format - - Format used to store data for each channel in the image (ie. R, G, B, and A). Refer to Pixel Formats for more information.

  • Use Input useinput - Uses the input's pixel format.
  • 8-bit fixed (RGBA) rgba8fixed - Uses 8-bit integer values for each channel.
  • sRGB 8-bit fixed (RGBA) srgba8fixed - Uses 8-bit integer values for each channel and stores color in sRGB colorspace.
  • 16-bit float (RGBA) rgba16float - Uses 16-bits per color channel, 64-bits per pixel.
  • 32-bit float (RGBA) rgba32float - Uses 32-bits per color channel, 128-bits per pixels.
  • 10-bit RGB, 2-bit Alpha, fixed (RGBA) rgb10a2fixed - Uses 10-bits per color channel and 2-bits for alpha, 32-bits total per pixel.
  • 16-bit fixed (RGBA) rgba16fixed - Uses 16-bits per color channel, 64-bits total per pixel.
  • 11-bit float (RGB), Positive Values Only rgba11float - A RGB floating point format that has 11 bits for the Red and Green channels, and 10-bits for the Blue Channel, 32-bits total per pixel (therefore the same memory usage as 8-bit RGBA). The Alpha channel in this format will always be 1. Values can go above one, but can't be negative. ie. the range is [0, infinite).
  • 16-bit float (RGB) rgb16float -
  • 32-bit float (RGB) rgb32float -
  • 8-bit fixed (Mono) mono8fixed - Single channel, where RGB will all have the same value, and Alpha will be 1.0. 8-bits per pixel.
  • 16-bit fixed (Mono) mono16fixed - Single channel, where RGB will all have the same value, and Alpha will be 1.0. 16-bits per pixel.
  • 16-bit float (Mono) mono16float - Single channel, where RGB will all have the same value, and Alpha will be 1.0. 16-bits per pixel.
  • 32-bit float (Mono) mono32float - Single channel, where RGB will all have the same value, and Alpha will be 1.0. 32-bits per pixel.
  • 8-bit fixed (RG) rg8fixed - A 2 channel format, R and G have values, while B is 0 always and Alpha is 1.0. 8-bits per channel, 16-bits total per pixel.
  • 16-bit fixed (RG) rg16fixed - A 2 channel format, R and G have values, while B is 0 always and Alpha is 1.0. 16-bits per channel, 32-bits total per pixel.
  • 16-bit float (RG) rg16float - A 2 channel format, R and G have values, while B is 0 always and Alpha is 1.0. 16-bits per channel, 32-bits total per pixel.
  • 32-bit float (RG) rg32float - A 2 channel format, R and G have values, while B is 0 always and Alpha is 1.0. 32-bits per channel, 64-bits total per pixel.
  • 8-bit fixed (A) a8fixed - An Alpha only format that has 8-bits per channel, 8-bits per pixel.
  • 16-bit fixed (A) a16fixed - An Alpha only format that has 16-bits per channel, 16-bits per pixel.
  • 16-bit float (A) a16float - An Alpha only format that has 16-bits per channel, 16-bits per pixel.
  • 32-bit float (A) a32float - An Alpha only format that has 32-bits per channel, 32-bits per pixel.
  • 8-bit fixed (Mono+Alpha) monoalpha8fixed - A 2 channel format, one value for RGB and one value for Alpha. 8-bits per channel, 16-bits per pixel.
  • 16-bit fixed (Mono+Alpha) monoalpha16fixed - A 2 channel format, one value for RGB and one value for Alpha. 16-bits per channel, 32-bits per pixel.
  • 16-bit float (Mono+Alpha) monoalpha16float - A 2 channel format, one value for RGB and one value for Alpha. 16-bits per channel, 32-bits per pixel.
  • 32-bit float (Mono+Alpha) monoalpha32float - A 2 channel format, one value for RGB and one value for Alpha. 32-bits per channel, 64-bits per pixel.



TOPs
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An Operator Family that creates, composites and modifies images, and reads/writes images and movies to/from files and the network. TOPs run on the graphics card's GPU.

Each SOP has a list of Points. Each point has an XYZ 3D position value plus other optional attributes. Each polygon Primitive is defined by a vertex list, which is list of point numbers.

The width and height of an image in pixels. Most TOPs, like the Movie File In TOP can set the image resolution. See Aspect Ratio for the width/height ratio of an image, taking into account non-square pixels.

The viewer of a node can be (1) the interior of a node (the Node Viewer), (2) a floating window (RMB->View... on node), or (3) a Pane that graphically shows the results of an operator.

A CHOP outputs one or more channels, where a channel is simply a sequence of numbers, representing motion, audio, etc. Channels are passed between CHOPs in TouchDesigner networks. See also Export.