.. _rgbddatacomponent:

RGB-D Data Component
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RGB-D Data component is an essential piece of information required by most of RGB-D algorithms.
This component can be attached to any data, for example image set or point cloud.
It specifies the settings of the RGB-D camera used to produce this data.
Use "Inspect Properties" to view the available data components.

Contents of RGB-D Data Component
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**depthWidth** - width of an image captured by the depth camera.

**depthHeight** - height of an image captured by the depth camera.

**depthK** - intrinsics of the depth camera.

**depthDistortionModel** - distortion model of the depth camera.

**depthDistortion** - distortion coefficients of the depth camera.

**colorWidth** - width of an image captured by the color camera.

**colorHeight** - height of an image captured by the color camera.

**colorK** - intrinsics of the color camera.

**colorDistortionModel** - distortion model of the color camera.

**colorDistortion** - distortion coefficients of the color camera.

**depthToColorT** - transformation converting coordinates from the depth camera coordinate system to the color camera coordinate system.

**sensorT** - transformation converting coordinates from the coordinate system of a depth camera to the coordinate system of a reference depth camera (might make sense in the context of multiple RGB-D cameras)

**pose** - camera pose, i.e. transformation from coordinates in the world coordinate system to coordinates of the depth camera coordinate system

**serial** - serial number of the camera

**description** - optional comments


Creating an RGB-D Data Component
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Most of the available RGB-D algorithms will create and attach RGB-D Data Component to the data when needed.
However, if the input data was loaded and not created by the algorithms, the RGB-D Data Component might need to be added explicitely.
To do that, one can use **Add DataComponent** from the "Inspect Properties" window.