Conversion process when shooting the camera from an angle
Due to installation restrictions, the camera (D455) must be installed at an angle.
I want to measure the height as seen from directly above.
The conversion itself is possible by performing affine transformation on the acquired point cloud data, but the calculation time is long.
I want to make this faster. At the time of acquiring point cloud data from RealSense, it is best to be able to convert it to the coordinate system seen from directly above in RealSense.
Do you have any good ideas?
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Hi Shimamoto1991 If you are rotating the camera forwards 90 degrees to face towards the floor instead of facing straight ahead then it should not make a difference to depth measurement. This is illustrated by the numerous applications of RealSense cameras being mounted overhead and orientated down to observe the ground or objects passing beneath (such as boxes on a conveyor belt). The D455 camera could be mounted in a facing-down orientation using the pair of M4 size mounting holes on the rear of the camera.
Is it practical for the camera to be mounted facing directly downwards in this way in your project please?
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There was a past discussion about mounting the camera at an angle tilted from straight-ahead and how it might affect depth measurement.
https://github.com/IntelRealSense/librealsense/issues/6800#issuecomment-656797493
There is a certain amount of flexibility for tilting the camera from the horizontal. For example, Intel's camera tuning guide states how the camera can be titled 20 to 30 degrees in order to avoid disruption of the image from 'repetitive patterns' in the observed scene.
However, I would consider 30 degrees to be the limit of how much you can tilt it from the horizontal before problems in measurements might start manifesting beyond that angle (+30 degrees).
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You are very welcome Shimamoto1991 - I am pleased that I could be of help!
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