Inverted Color on Depth images

[Xiphosphere]

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Required Info
Camera Model	D435 and D415
Firmware Version	5.11.1
Operating System & Version	Ubuntu Mate 16.04.2-armhf
Kernel Version (Linux Only)	4.14.94-v7+
Platform	Raspberry Pi 3 Model B via USB 2.1
SDK Version	2.17
Language	Python 2.7 / OpenCV 3.4

Issue Description

Tried applying colorizer to the depth image but colors are inverted where red is near and blue is far.
Depth image works fine on realsense-viewer.
in issue #856 also tried to change the visual preset in the sample code provided by Dorodnic but unable to successfully change.
New to RealSense and programming as a whole, so do need some pointers in the right direction.

rs.txt
Code attached is a modified version of the opencv_viewer_example.py:

import pyrealsense2 as rs
import numpy as np
import cv2

pipeline=rs.pipeline()
config=rs.config()

config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 15)
config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 15)
config.enable_stream(rs.stream.infrared, 640, 480, rs.format.y8, 15)

cfg = pipeline.start(config)
dev = cfg.get_device()

colorizer = rs.colorizer()
colorizer.set_option(rs.option.color_scheme, 0)

depth_sensor = dev.first_depth_sensor()
depth_sensor.set_option(rs.option.visual_preset, 2)

try:
while True:

      frames = pipeline.wait_for_frames()
      depth_frame = frames.get_depth_frame()
      color_frame = frames.get_color_frame()
      ir1_frame = frames.get_infrared_frame(1)
      if not depth_frame or not color_frame or not ir1_frame:
           continue

      depth_image = np.asanyarray(colorizer.colorize(depth_frame).get_data())
      color_image = np.asanyarray(color_frame.get_data())
      ir1_image = np.asanyarray(ir1_frame.get_data())

      cv2.namedWindow('RGB_RealSense', cv2.WINDOW_AUTOSIZE)
      cv2.namedWindow('Depth_RealSense', cv2.WINDOW_AUTOSIZE)
      cv2.namedWindow('IR_RealSense', cv2.WINDOW_AUTOSIZE)
      cv2.imshow('RGB_RealSense', color_image)
      cv2.imshow('Depth_Realsense', depth_image)
      cv2.imshow('IR_RealSense', ir1_image)
      key = cv2.waitKey(1) & 0xFF
      if key == ord("q"):
           break

finally:

     pipeline.stop()

[RealSenseCustomerSupport]

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@Xiphosphere
For color scheme, you can refer to https://github.com/IntelRealSense/librealsense/blob/master/include/librealsense2/hpp/rs_processing.hpp#L609

For visual preset, could you elaborate more about "unable to successfully change"? Do you mean you can't see any change with visual preset or you got any error? Thanks!

[Xiphosphere]

Hi, thanks for the prompt reply, but i am unable to see any changes in the visual preset when i try to change it via the python code. However, the visual presets do change as per normal when running the realsense-viewer.

[RealSenseCustomerSupport]

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@Xiphosphere Sorry for late response! I can see the difference from visual preset 5 and preset 2. What values did you test? I'll attach the snapshot of my testing.

[sherrysun2018]

@Xiphosphere Please see the snapshot of visual preset 5 as below.

And below is the snapshot of visual preset 2.

They showed some difference.

[RealSenseCustomerSupport]

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@Xiphosphere Any other questions about this ticket? Looking forward to your update. Thanks!

[RealSenseCustomerSupport]

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@Xiphosphere If no other questions, will close the ticket accordingly. Thanks!

[Xiphosphere]

Hi apologies for the super late responses due to other tests being conducted, just tested on another Raspberry Pi and there has been a difference in the visual preset. Will close this ticket. Thanks again for all the hard work!

[DuyguSerbes]

Your code you provided is very beneficial. Regarding the laser power, I have a question. How can I determine IR power on python script? I can arrange it via Realsense Viewer, but I dont know is there a way for python script?