RenderPointMap

Contains a depth image as orthographic/telecentric or perspective projection of the scene. The image is generated when executing the command RenderPointMap. Its number value represents a time stamp .

By default, a telecentric projection is generated using each cameras DisparityMap and the parameters from the global /DefaultParameters/RenderPointMap node. If you specify the Camera parameter when executing the command, a perspective projection from an open monocular camera camera will be rendered (see the parameter’s documentation for more details). In the latter case, the pixels of this image will be aligned with the mono camera’s undistorted image.

Note

The point coordinates in this binary are always in world/workspace coordinates. See the multi camera setup guide for more information about different coordinate systems.

Format

Binary

A 32bit floating point image with either

  • one channel for the pixel’s z coordinate

  • three channels specifying each pixel’s x, y, and z coordinates.

Refer to the description of RenderPointMap on how to select the generated format.