2.9.1. V4L2_PIX_FMT_INZI (‘INZI’)¶
Infrared 10-bit linked with Depth 16-bit images
2.9.1.1. Description¶
Proprietary multi-planar format used by Intel SR300 Depth cameras, comprise of Infrared image followed by Depth data. The pixel definition is 32-bpp, with the Depth and Infrared Data split into separate continuous planes of identical dimensions.
The first plane - Infrared data - is stored according to V4L2_PIX_FMT_Y10 greyscale format. Each pixel is 16-bit cell, with actual data stored in the 10 LSBs with values in range 0 to 1023. The six remaining MSBs are padded with zeros.
The second plane provides 16-bit per-pixel Depth data arranged in V4L2-PIX-FMT-Z16 format.
Frame Structure. Each cell is a 16-bit word with more significant data stored at higher memory address (byte order is little-endian).
Ir0,0 |
Ir0,1 |
Ir0,2 |
… |
… |
… |
|---|---|---|---|---|---|
… |
|||||
Infrared Data |
|||||
… |
|||||
… |
… |
… |
Irn-1,n-3 |
Irn-1,n-2 |
Irn-1,n-1 |
Depth0,0 |
Depth0,1 |
Depth0,2 |
… |
… |
… |
… |
|||||
Depth Data |
|||||
… |
|||||
… |
… |
… |
Depthn-1,n-3 |
Depthn-1,n-2 |
Depthn-1,n-1 |