RealSense TOP

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Summary

The RealSense TOP connects to Intel RealSense devices and outputs color, depth and IR data from it.

See also RealSense for hardware information and installation instruction, and the RealSense CHOP.

PythonIcon.png realsenseTOP_Class

Parameters - Setup

Model model - Select the model of device to use, F200, R200, or SR300.

Sensor sense - Select the device to use.

Image image - Select the image type to output.

  • Color color - The video from the color sensor.
  • Depth depth - The calculated depth value for each pixel. The data is re-range to be between 0 and the 'Max Depth' parameter, specified in Meters. A pixel value of 0 means 0 meters from the camera while a pixel value of 1 means 'Max Depth' or more pixels from the camera.
  • Raw Depth rawdepth - The raw depth value for each pixel from the SDK. Not well documented by the SDK. The data is re-range to be between 0 and the 'Max Depth' parameter, specified in Meters. A pixel value of 0 means 0 meters from the camera while a pixel value of 1 means 'Max Depth' or more pixels from the camera.
  • Visualized Depth visualizeddepth - The depth values as output from the SDK when requesting a RGBA image. This output is useful for visualizing the depth, but the pixels values are dyanmically re-ranged by the SDK so it can't be used to determine a pixel's actual depth from the camera.
  • Depth To Color UV Map depthtocoloruv - A RG 32-bit float texture that is the UV values needed to remap the Depth image to line up with the Color image. Use a Remap TOP with this and the Depth image to produce something that will be aligned with the Color image.
  • Color To Depth UV Map colortodepthuv - A RG 32-bit float texture that is the UV values needed to remap the Color image to line up with the Depth image. Use a Remap TOP with this and the Color image to produce something that will be aligned with the Depth image.
  • Infrared infrared - The raw video from the infrared sensor.
  • Point cloud pointcloud - literally a cloud of points in 3d space (X, Y, Z coordinates) or data points created by the scanner of the RealSense Camera.
  • Point Cloud Color UVs pointcloudcoloruv - which can be used to get each point’s color from the Color image stream.
  • Segmented Color (with Alpha) segmentedcolor - which outputs masked color image of the detected person in front of the camera.

Camera Resolution camerares - Select the resolution of the video. Currently only usable for the Color image.

Max Depth maxdepth - The depth value pixels with a value of 1 will be set to. Specified in Meters. Pixels with a depth larger than this will be clamped to 1 for fixed point texture output, or go above 1 for floating point output.

Mirror Image mirrorimage - Flip the image horizontally.

Use Default Tradeoff defaulttradeoff - Use the default Motion Range Tradeoff specified by the device.

Motion Range Tradeoff tradeoff - Specifies the tradeoff between motion and range. Value is from 0 (short exposure, short range, and better motion) to 100 (long exposure and long range).

Parameters - Common Page

Output Resolution - quickly change the resolution of the TOP's data.

  • Use Input - uses the input's resolution.
  • Eighth, Quarter, Half, 2X, 4X, 8X - multiply the input's resolution by that amount.
  • Fit Resolution - Resizes the input to the size specified in Resolution using the best possible match that does not crop any of the input. It will resize the image to be larger than the input resolution if a larger resolution is specified. It's a "fit inside", Aspect Ratio is maintained.
  • Limit Resolution - Limits the input to the size specified in Resolution using the best possible match that does not crop any of the input. It will NOT resize the image to be larger than the input resolution if a larger resolution is specified. It's a "fit inside", Aspect Ratio is maintained.
  • Custom Resolution - enables the Resolution parameter below, giving direct control over width and height.

Resolution - enabled only when the Resolution parameter is set to Custom Resolution. Some Generators like Constant and Ramp do not use inputs and only use this field to determine their size. The drop down menu on the right provides some commonly used resolutions.

Use Global Res Multiplier - Uses the Global Resolution Multiplier found in Edit>Preferences>TOPs. This multiplies all the TOPs resolutions by the set amount. This is handy when working on computers with different hardware specifications. If a project is designed on a desktop workstation with lots of graphics memory, a user on a laptop with only 64MB VRAM can set the Global Resolution Multiplier to a value of half or quarter so it runs at an acceptable speed. By checking this checkbox on, this TOP is affected by the global multiplier.

Output Aspect - sets the image aspect ratio allowing any textures to be viewed in any size. Watch for unexpected results when compositing TOPs with different aspect ratios. (You can define images with non-square pixels using xres, yres, aspectx, aspecty where xres/yres != aspectx/aspecty.)

  • Input - uses the input's aspect ratio.
  • Resolution - uses the aspect of the image's defined resolution (ie 512x256 would be 2:1), whereby each pixel is square.
  • Custom Aspect - lets you explicitly define a custom aspect ratio in the Aspect parameter below.

Aspect - Use when Output Aspect parameter is set to Custom Aspect.

Input Smoothness - This controls pixel filtering on the input image of the TOP.

  • Nearest Pixel - uses nearest pixel or accurate image representation. Images will look jaggy when viewing at any zoom level other than Native Resolution.
  • Interpolate Pixels - uses linear filtering between pixels. This is how you get TOP images in viewers to look good at various zoom levels, especially useful when using any Fill Viewer setting other than Native Resolution.
  • Mipmap Pixels - uses mipmap filtering when scaling images. This can be used to reduce artifacts and sparkling in moving/scaling images that have lots of detail.

Fill Viewer - determine how the TOP image is displayed in the viewer.

  • Input - uses the same Fill Viewer settings as it's input.
  • Fill - stretches the image to fit the edges of the viewer.
  • Fit Horizontal - stretches image to fit viewer horizontally.
  • Fit Vertical - stretches image to fit viewer vertically.
  • Fit Best - stretches or squashes image so no part of image is cropped.
  • Fit Outside - stretches or squashes image so image fills viewer while constraining it's proportions. This often leads to part of image getting cropped by viewer.
  • Native Resolution - displays the native resolution of the image in the viewer.

NOTE: To get an understanding of how TOPs works with images, you will want to set this to Native Resolution as you lay down TOPs when starting out. This will let you see what is actually happening without any automatic viewer resizing.

Viewer Smoothness - This controls pixel filtering in the viewers.

  • Nearest Pixel - uses nearest pixel or accurate image representation. Images will look jaggy when viewing at any zoom level other than Native Resolution.
  • Interpolate Pixels - uses linear filtering between pixels. Use this to get TOP images in viewers to look good at various zoom levels, especially useful when using any Fill Viewer setting other than Native Resolution.
  • Mipmap Pixels - uses mipmap filtering when scaling images. This can be used to reduce artifacts and sparkling in moving/scaling images that have lots of detail. When the input is 32-bit float format, only nearest filtering will be used (regardless of what is selected).

Passes - Duplicates the operation of the TOP the specified number of times. Making this larger than 1 is essentially the same as taking the output from each pass, and passing it into the first input of the node and repeating the process. Other inputs and parameters remain the same for each pass.

Channel Mask - Allows you to choose which channels (R, G, B, or A) the TOP will operate on. All channels are selected by default.

Pixel Format - format used to store data for each channel in the image (ie. R, G, B, and A). Refer to Pixel Formats for more information.

  • Input - uses the input's pixel format.
  • 8-bit fixed (RGBA) - uses 8-bit integer values for each channel.
  • sRGB 8-bit fixed (RGBA) - uses 8-bit integer values for each channel and stores color in sRGB colorspace.
  • 16-bit float (RGBA) - uses 16-bits per color channel, 64-bits per pixel.
  • 32-bit float (RGBA) - uses 32-bits per color channel, 128-bits per pixels.


  • 10-bit RGB, 2-bit Alpha, fixed (RGBA) - uses 10-bits per color channel and 2-bits for alpha, 32-bits total per pixel.
  • 16-bit fixed (RGBA) - uses 16-bits per color channel, 64-bits total per pixel.
  • 11-bit float (RGB), Positive Values Only - A RGB floating point format that has 11 bits for the Red and Green channels, and 10-bits for the Blue Channel, 32-bits total per pixel (therefore the same memory usage as 8-bit RGBA). The Alpha channel in this format will always be 1. Values can go above one, but can't be negative. ie. the range is [0, infinite).
  • 8-bit fixed (Mono) - Single channel, where RGB will all have the same value, and Alpha will be 1.0. 8-bits per pixel.
  • 16-bit fixed (Mono) - Single channel, where RGB will all have the same value, and Alpha will be 1.0. 16-bits per pixel.
  • 16-bit float (Mono) - Single channel, where RGB will all have the same value, and Alpha will be 1.0. 16-bits per pixel.
  • 32-bit float (Mono) - Single channel, where RGB will all have the same value, and Alpha will be 1.0. 32-bits per pixel.
  • 8-bit fixed (RG) - A 2 channel format, R and G have values, while B is 0 always and Alpha is 1.0. 8-bits per channel, 16-bits total per pixel.
  • 16-bit fixed (RG) - A 2 channel format, R and G have values, while B is 0 always and Alpha is 1.0. 16-bits per channel, 32-bits total per pixel.
  • 16-bit float (RG) - A 2 channel format, R and G have values, while B is 0 always and Alpha is 1.0. 16-bits per channel, 32-bits total per pixel.
  • 32-bit float (RG) - A 2 channel format, R and G have values, while B is 0 always and Alpha is 1.0. 32-bits per channel, 64-bits total per pixel.
  • 8-bit fixed (A) - An Alpha only format that has 8-bits per channel, 8-bits per pixel.
  • 16-bit fixed (A) - An Alpha only format that has 16-bits per channel, 16-bits per pixel.
  • 16-bit float (A) - An Alpha only format that has 16-bits per channel, 16-bits per pixel.
  • 32-bit float (A) - An Alpha only format that has 32-bits per channel, 32-bits per pixel.
  • 8-bit fixed (Mono+Alpha) - A 2 channel format, one value for RGB and one value for Alpha. 8-bits per channel, 16-bits per pixel.
  • 16-bit fixed (Mono+Alpha) - A 2 channel format, one value for RGB and one value for Alpha. 16-bits per channel, 32-bits per pixel.
  • 16-bit float (Mono+Alpha) - A 2 channel format, one value for RGB and one value for Alpha. 16-bits per channel, 32-bits per pixel.
  • 32-bit float (Mono+Alpha) - A 2 channel format, one value for RGB and one value for Alpha. 32-bits per channel, 64-bits per pixel.