Re: Depth format on iOS

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Depth-format-on-iOS-tp9046p9069.html

Hi Andrea,

This is not RGBA, but 32bits FLOAT (in meters). Well it is packaged like RGBA, but should be decoded as float. When reading the PNG, we cast RGBA pixels to single Float in meters.

With RTAB-Map desktop, rtabmap will use by default 16 bits in mm, though it depends on the camera used.

cheers,
Mathieu