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 |