D435i RGB, Infrared sensor FOV

• MartyG

  • June 10, 2021 06:00

  Hi Hoo2257  The physical FOV size of the sensors on RealSense cameras is fixed.  When alignment is performed between depth and color using the SDK's align processing block though, the image's FOV size will be automatically aligned to that of the target sensor.

  https://dev.intelrealsense.com/docs/projection-in-intel-realsense-sdk-20#section-frame-alignment

  So when aligning depth to color, the depth FOV is resized to the color FOV size.  And when performing color to depth alignment, the color FOV is resized to the depth FOV.

  Further information about the principles of alignment can be found in the opening section of the documentation for the rs-align example program.

  https://github.com/IntelRealSense/librealsense/tree/master/examples/align#overview

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• Hoo2257

  • June 12, 2021 11:36

  I have a follow up question. I have tried the align method on both rgb and depth and it worked. When I set the target sensor to color, only camera for depth is aligned and infrared image was not aligned. When I set the target sensor to depth, all three camera was aligned but the image for rgb and infrared was broken. Lastly, when i set the target sensor to infrared, only depth camera was aligned to the infrared camera. Is there any method that i can perform alignment on all three camera?

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• MartyG

  • June 12, 2021 11:56

  The link below discusses aligning depth, color and infrared and provides a Python script.

  https://github.com/IntelRealSense/librealsense/issues/5093

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