depth confidence frame/map in D435

[monajalal]

config.enable_stream(rs.stream.depth, 1280, 720, rs.format.z16, 30)

config.enable_stream(rs.stream.color, 1280, 720, rs.format.bgr8, 30)

config.enable_stream(rs.stream.confidence, 1280, 720, rs.format.raw8, 30)
# Start streaming
pipeline.start(config)

Error:

    pipeline.start(config)
RuntimeError: Couldn't resolve requests

Related link:

https://github.com/IntelRealSense/librealsense/issues/9037

Could you please help how I can get the confidence value for each pixel in depth map for the resolution of the 1280x720 for depth map?

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Required Info
Camera Model	{ R200 / F200 / SR300 / ZR300 / D400 }
Firmware Version	(Open RealSense Viewer --> Click info)
Operating System & Version	{Win (8.1/10) / Linux (Ubuntu 14/16/17) / MacOS
Kernel Version (Linux Only)	(e.g. 4.14.13)
Platform	PC/Raspberry Pi/ NVIDIA Jetson / etc..
SDK Version	{ legacy / 2.<?>.<?> }
Language	{C/C#/labview/nodejs/opencv/pcl/python/unity }
Segment	{Robot/Smartphone/VR/AR/others }

Issue Description

<Describe your issue / question / feature request / etc..>

[MartyG-RealSense]

Hi @monajalal 1280x720 for both depth and color should be supported on a D435, unless your camera is being detected as being on a USB 2.1 connection instead of USB 3.2. On a USB 2.1 connection, 1280x720 resolution is only supported at 6 FPS instead of 30 and requesting 30 FPS would cause the RuntimeError: Couldn't resolve requests error.

RealSense 400 Series cameras do not have a confidence map but you can do something similar with the Advanced Mode Second Peak Threshold parameter, as advised at https://github.com/IntelRealSense/librealsense/issues/3185#issuecomment-460540961

[monajalal]

Thanks for mentioning this. Turns out I cannot use rs.stream.confidence since this is D400 series, right?

As for the other option, how can I set these in the python code? I can access them in realsense-viewer GUI.

My intention is when a person is detected by GUI and is further than 1.5m, do not show the bounding box surrounding it

[MartyG-RealSense]

rs.stream.confidence is a feature only supported on the RealSense L515 lidar depth camera model.

Tthe Second Peak Threshold value can be defined in a custom json camera configuration file or with Python using Advanced Mode scripting, as described at https://github.com/IntelRealSense/librealsense/issues/10224#issuecomment-1060412603

Using Advanced Mode code to set it will be complicated. It would be much easier to define the value in a json file and then import the json into your program so that the configuration settings stored in the file are applied.

[MartyG-RealSense]

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

[MartyG-RealSense]

Case closed due to no further comments received.