Get raw depth data in Android

[oddityyyy]

Issue Description

Hello,
I want to know how to get raw depth data like this in android:

I have tried some ways like this:
`try (FrameReleaser fr = new FrameReleaser()) {
try (FrameSet frames = mPipeline.waitForFrames().releaseWith(fr)) {

            Align align = new Align(StreamType.COLOR);
            
            String folderPath = "/storage/emulated/0/graduateDesign/";
            String profile = "lhh";
            SimpleDateFormat sdf = new SimpleDateFormat("yyyyMMdd_HHmmss");
            String currentDateAndTime = sdf.format(new Date());
          
            try (FrameSet processed = frames.applyFilter(align).releaseWith(fr).applyFilter(mColorizer).releaseWith(fr)) {

                Frame depthColored = processed.first(StreamType.DEPTH,StreamFormat.RGB8).releaseWith(fr);
                DepthFrame depthColorFrame = depthColored.as(Extension.DEPTH_FRAME);
                depthColorFrame.releaseWith(fr);

                Frame color = processed.first(StreamType.COLOR).releaseWith(fr);
                VideoFrame colorFrame = color.as(Extension.VIDEO_FRAME);
                colorFrame.releaseWith(fr);

                Frame depth = processed.first(StreamType.DEPTH,StreamFormat.Z16).releaseWith(fr);
                DepthFrame depthFrame = depth.as(Extension.DEPTH_FRAME);
                depthFrame.releaseWith(fr);

                // capturing color image
                Mat mRGB = new Mat(colorFrame.getHeight(), colorFrame.getWidth(), CvType.CV_8UC3);
                byte[] return_buff = new byte[colorFrame.getDataSize()];
                colorFrame.getData(return_buff);
                mRGB.put(0, 0, return_buff);

                Bitmap bmp = Bitmap.createBitmap(mRGB.cols(), mRGB.rows(), Bitmap.Config.ARGB_8888);
                org.opencv.android.Utils.matToBitmap(mRGB, bmp);

                File imgFile = new File(folderPath, profile + "colorFrame-" + currentDateAndTime + ".jpg");
                try {
                    FileOutputStream out2 = new FileOutputStream(imgFile);
                    bmp.compress(Bitmap.CompressFormat.JPEG, 100, out2);
                    out2.flush();
                    out2.close();
                } catch (Exception e) {
                    e.printStackTrace();
                }

                // capturing colorized depth image 
                Mat mDepthColorized = new Mat(depthColorFrame.getHeight(), depthColorFrame.getWidth(), CvType.CV_8UC3);
                byte[] return_buff_DepthColor = new byte[depthColorFrame.getDataSize()];
                depthColorFrame.getData(return_buff_DepthColor);
                mDepthColorized.put(0, 0, return_buff_DepthColor);

                Bitmap bmpDepthColor = Bitmap.createBitmap(mDepthColorized.cols(), mDepthColorized.rows(), Bitmap.Config.ARGB_8888);
                org.opencv.android.Utils.matToBitmap(mDepthColorized, bmpDepthColor);

                File imgFileDepthColor = new File(folderPath, profile + "depthFrame-" + currentDateAndTime + ".jpg");
                try {
                    FileOutputStream out3 = new FileOutputStream(imgFileDepthColor);
                    bmpDepthColor.compress(Bitmap.CompressFormat.JPEG, 100, out3);
                    out3.flush();
                    out3.close();
                } catch (Exception e) {
                    e.printStackTrace();
                }

                
                // capturing raw data
                Mat mDepth = new Mat(depthFrame.getHeight(), depthFrame.getWidth(), CV_8UC1);//8UC1 //8UC3  //16UC1
                byte[] return_buff_Depth = new byte[depthFrame.getDataSize()];
                depthFrame.getData(return_buff_Depth);
                mDepth.put(0, 0, return_buff_Depth);

                Bitmap bmpDepth = Bitmap.createBitmap(mDepth.cols(), mDepth.rows(), Bitmap.Config.ARGB_8888);
                org.opencv.android.Utils.matToBitmap(mDepth, bmpDepth);

                File imgFileDepth = new File(folderPath, profile + "grayFrame-" + currentDateAndTime + ".png");
                try {
                    FileOutputStream out4 = new FileOutputStream(imgFileDepth);
                    bmpDepth.compress(Bitmap.CompressFormat.PNG, 100, out4);
                    out4.flush();
                    out4.close();
                } catch (Exception e) {
                    e.printStackTrace();
                }`

But the resuit is:



It looks like raw grey depth image going wrong.
Could you give me some advice, thanks!

[MartyG-RealSense]

Hi @oddityyyy There are very few references about achieving on Android the type of depth map that you are aiming for, unfortunately. Most of the references are linked to #5446 that you have already likely visited because it has the depth map image that you shared above.

A RealSense programming expert shared Java advice with a RealSense user in #5571 (comment) that led to that RealSense user achieving in #5571 (comment) a depth map image below that resembles what you want.

[oddityyyy]

@MartyG-RealSense Thanks, #5571 is useful to me, the problem has been solved.

[MartyG-RealSense]

Thanks very much @oddityyyy for the update!