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CHAPTER 3: Depth Image Processing > Enhanced Depth Images

Enhanced Depth Images

Before going any further, we need to address the look of the depth image. It is naturally difficult to see. The shades of gray fall on the darker end of the spectrum. In fact, the images in Figures 3-1 and 3-4 had to be altered with an image-editing tool to be printable in the book! In the next set of exercises, we manipulate the image bits just as we did in the previous chapter. However, there will be a few differences, because as we know, the data for each pixel is different. Following that, we examine how we can colorize the depth images to provide even greater depth resolution.

Better Shades of Gray

The easiest way to improve the appearance of the depth image is to invert the bits. The color of each pixel is based on the depth value, which starts from zero. In the digital color spectrum, black is 0 and 65536 (16-bit gray scale) is white. This means that most depths fall into the darker end of the spectrum. Additionally, do not forget that all undeterminable depths are set to zero. Inverting or complementing the bits shifts the bias towards the lighter end of the spectrum. A depth of zero is now white.


  

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