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distance

Overview #

Measuring distances using depth data.

Expected Output #

Picture2 | LIPS® Developer Documentation

Prerequisite #

Tutorial #

C++
int cx_rgb = bgrImg.cols / 2;
int cy_rgb = bgrImg.rows / 2;

int dx, dy;
if (device.getImageRegistrationMode() == IMAGE_REGISTRATION_DEPTH_TO_COLOR &&
                bgrImg.size() == depth16.size())
            {

                dx = cx_rgb;
                dy = cy_rgb;
            }
else {
dx = static_cast<int>(cx_rgb * (double)depth16.cols/bgrImg.cols);
      dy = static_cast<int>(cy_rgb * (double)depth16.rows /bgrImg.rows);
            }
  • Compute the center pixel of the RGB image
  • If depth is registered to color, use the same coordinates
  • Otherwise, map coordinates using resolution scaling
C++
circle(bgrImg, Point(cx_rgb, cy_rgb), 5, Scalar(0, 255, 0), -1);
putText(bgrImg, format("Center dist: %.3f m", dist_m), Point(10, 30),
                        FONT_HERSHEY_SIMPLEX, 0.8, Scalar(0, 255, 0), 2);
  • Displays center pixel location
  • Overlays real-time distance text
Updated on 2026 年 4 月 1 日