How to parse the depth bin file captured by ScanCapture

[fushi219]

Thanks for your great job!
I found that the ScanCapture APP would also record the depth measured by lidar and save it as .bin and .condifence file, I wonder how could I parse them to get point cloud?
Thanks!

[sarlinpe]

You can easily read the depth maps and the ARKit confidences:

lamar-benchmark/scantools/run_phone_to_capture.py

Lines 171 to 174 in 4a37cdb

	confidence = cv2.imread(
	depth_path.with_suffix('.confidence.png').as_posix(), cv2.IMREAD_ANYDEPTH)
	depth = np.fromfile(depth_path, dtype=np.float32).reshape(confidence.shape)
	depth[confidence < min_confidence] = 0

[fushi219]

Got it! Thank you so much!