[RSDK-13824] Fix depth image scale by applying Orbbec SDK valueScale#72
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SebastianMunozP merged 2 commits intoviam-modules:mainfrom Apr 27, 2026
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The previous implementation divided raw depth values by 1000 before storing them as uint16_t mm values, compressing all distances into the 0-1 mm range. Additionally, getValueScale() was never applied, meaning cameras with a non-1.0 scale factor would produce wrong values. Now encode_to_depth_raw accepts a valueScale parameter and computes actual_mm = raw_pixel * valueScale before encoding. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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seanavery
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Apr 27, 2026
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Nice improvement!
[question] Was the old depth image return effectively unusable with the old 0-1mm normalization?
[question] Do we currently have any users of the depth image that will be affected by this change?
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The previous implementation divided raw depth values by 1000 before storing them as uint16_t mm values, compressing all distances into the 0-1 mm range. Additionally, getValueScale() was never applied, meaning cameras with a non-1.0 scale factor would produce wrong values.
Now encode_to_depth_raw accepts a valueScale parameter and computes actual_mm = raw_pixel * valueScale before encoding.
This fix is based on the example from Orbbec: https://github.com/orbbec/OrbbecSDK_v2/tree/main/examples/1.stream.depth
Test (using a simple python script to print the images we receive from the camera)
Before:
After: