[L515]Is it possible to match alignment of color image and depth image?

March 31, 2021 06:31

I'm currently using the L515 with NVIDIA's Jetson NX.
In the process I do, I need to match the alignment in the color and depth images.

(process)
1, Detect a person in a color image and get the coordinates
2, get the distance from the depth using the obtained coordinates

However, if you add the align function, the position will shift.
The result will look like the image.

The front is very different.
There is also vertical noise on the right side.

Is it possible to match alignment so that there is no discrepancy between the color image and the depth image?

The code I'm using is below.

import pyrealsense2 as rs
import numpy as np
import cv2

config = rs.config()

config.enable_stream(rs.stream.depth, 1024, 768, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 1280, 720, rs.format.bgr8, 30)

pipeline = rs.pipeline()
profile = pipeline.start(config)

align_to = rs.stream.color
align = rs.align(align_to)
depth_sensor = profile.get_device().first_depth_sensor()
depth_scale = depth_sensor.get_depth_scale()

try:
    while True:
        frames = pipeline.wait_for_frames()

        aligned_frames = align.process(frames)
        color_frame = aligned_frames.get_color_frame()
        depth_frame = aligned_frames.get_depth_frame()
        
        depth_intrin = depth_frame.profile.as_video_stream_profile().intrinsics
        depth_image = np.asanyarray(depth_frame.get_data())
        color_image = np.asanyarray(color_frame.get_data())

        depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)

        images = np.hstack((color_image, depth_colormap))
        cv2.namedWindow('RealSense', cv2.WINDOW_NORMAL)
        cv2.imshow('RealSense', images)
        if cv2.waitKey(1) & 0xff == 27:
            cv2.destroyAllWindows()
            break

finally:
    pipeline.stop()

Comments

4 comments

Zulkifli Halim

April 05, 2021 03:24

Edited
Hello N Kanbe l9,

Change the line:
```
align_to = rs.stream.color
align = rs.align(align_to)
```
with the line:
```
align_to = rs.stream.depth
align = rs.align(align_to)
```
For the noise, we still investigating the issue.

Regards,

Zulkifli
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Zulkifli Halim

April 06, 2021 12:55
Edited

Hello N Kanbe l9,

We suggest you use this python code:

import pyrealsense2 as rs
import numpy as np
import cv2

pipeline = rs.pipeline()

config = rs.config()
config.enable_stream(rs.stream.depth, 1280, 768, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 1280, 768, rs.format.bgr8, 30)

profile = pipeline.start(config)

depth_sensor = profile.get_device().first_depth_sensor()
depth_scale = depth_sensor.get_depth_scale()
print("Depth Scale is: " , depth_scale)

clipping_distance_in_meters = 1 #1 meter
clipping_distance = clipping_distance_in_meters / depth_scale

align_to = rs.stream.color
align = rs.align(align_to)

try:
    while True:
        frames = pipeline.wait_for_frames()

        aligned_frames = align.process(frames)
        aligned_depth_frame = aligned_frames.get_depth_frame() # aligned_depth_frame is a 640x480 depth image

        color_frame = aligned_frames.get_color_frame()

        if not aligned_depth_frame or not color_frame:
            continue

        depth_image = np.asanyarray(aligned_depth_frame.get_data())
        color_image = np.asanyarray(color_frame.get_data())
        depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)

        images = np.hstack((color_image, depth_colormap))

        cv2.namedWindow('Align Example', cv2.WINDOW_AUTOSIZE)
        cv2.imshow('Align Example', images)

        key = cv2.waitKey(1)
        if key & 0xFF == ord('q') or key == 27:
            cv2.destroyAllWindows()

            break
finally:
    pipeline.stop()

Regards,

Zulkifli

N Kanbe I9

April 07, 2021 06:02
Thank you very much.

Since the range of color images is narrow, we will consider other methods.
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Fvargas

October 19, 2021 23:48
he corregido el codigo ahora funciona:::::

import pyrealsense2 as rs
import numpy as np
import cv2

# Configure depth and color streams
pipeline = rs.pipeline()
config = rs.config()

# Get device product line for setting a supporting resolution
pipeline_wrapper = rs.pipeline_wrapper(pipeline)
pipeline_profile = config.resolve(pipeline_wrapper)
device = pipeline_profile.get_device()
device_product_line = str(device.get_info(rs.camera_info.product_line))

config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)

config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)

# Start streaming
pipeline.start(config)

depth_sensor = device.first_depth_sensor()
depth_scale = depth_sensor.get_depth_scale()

print("Depth Scale is: " , depth_scale)

clipping_distance_in_meters = 1 #1 meter
clipping_distance = clipping_distance_in_meters / depth_scale

align_to = rs.stream.color
align = rs.align(align_to)

try:
while True:
frames = pipeline.wait_for_frames()

aligned_frames = align.process(frames)
aligned_depth_frame = aligned_frames.get_depth_frame() # aligned_depth_frame is a 640x480 depth image

color_frame = aligned_frames.get_color_frame()

if not aligned_depth_frame or not color_frame:
continue

depth_image = np.asanyarray(aligned_depth_frame.get_data())
color_image = np.asanyarray(color_frame.get_data())
depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)

images = np.hstack((color_image, depth_colormap))

cv2.namedWindow('Align Example', cv2.WINDOW_AUTOSIZE)
cv2.imshow('Align Example', images)

key = cv2.waitKey(1)
if key & 0xFF == ord('q') or key == 27:
cv2.destroyAllWindows()

break
finally:
pipeline.stop()
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