Are color images and depth images aligned frame by frame?Whether the depth to point cloud can be directly calculated by internal and external parameters？

• Permanently deleted user

  • June 25, 2019 12:31

  Hello 1106569356,

   

  Thank you for your patience in receiving a reply.

   

  Could you please try the following code example to align the depth and RGB frames?

   

  function align_cust_example()

  % Make Pipeline object to manage streaming

  pipe = realsense.pipeline();

  % Start streaming on an arbitrary camera with default settings

  profile = pipe.start();

  align_to = realsense.stream.color;

  alignedFs = realsense.align(align_to);

  % Get streaming device's name

  dev = profile.get_device();

  name = dev.get_info(realsense.camera_info.name);

  % Get frames. We discard the first couple to allow

  % the camera time to settle

  %while(true)

  for i = 1:5

  fs = pipe.wait_for_frames();

  end

  pipe.stop();

  % Select depth frame

  aligned_frames = alignedFs.process(fs);

  depth = aligned_frames.get_depth_frame();

  %depth = fs.get_depth_frame();

   

  % get depth image parameters

  depthSensor = dev.first('depth_sensor');

  depthScale = depthSensor.get_depth_scale();

  depthWidth = depth.get_width();

  depthHeight = depth.get_height();

  % retrieve UINT16 depth vector

  depthVector = depth.get_data();

  % reshape vector, and scale to depth in meters

  depthMap = double(transpose(reshape(depthVector, [depthWidth,depthHeight]))) .* depthScale;

  %align the depth frames to the color stream

   

  %Select rgb frame

  color = fs.get_color_frame();

  colordata=color.get_data();

  img = permute(reshape(colordata',[3,color.get_width(),color.get_height()]),[3 2 1]);

  subplot(2,1,1);

  imshow(depthMap)

  impixelinfo;

  title('Depth Map (m)');

  subplot(2,1,2);

  imshow(img)

  impixelinfo;

  title('Color Map');

  %end

  % Stop streaming

   

  end

   

  Please be aware that this is an example code. Please feel free to test and modify the code to your specifications.

   

  Best regards,

  Alexandru

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• 1106569356

  • June 26, 2019 02:39

  Hi Alexandru,

  Many thanks for your prompt reply.I am now confused how to extract all the aligned depth and color frame images. I have tried many methods, but still can't solve them. I wonder if you can help me.

  Thank you !

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• Eliza Davidov

  • June 28, 2019 11:25

  Hello 1106569356,

   

  The same as for the other thread, let's continue the conversation on: https://support.intelrealsense.com/hc/en-us/community/posts/360033198613 

   

  Thank you and best regards,

  Eliza

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• 1106569356

  • June 28, 2019 15:24

  Hi Eliza,

  I am sorry that I have raised the same question many times since I urgently need to solve this problem.

  Since I have already recorded a.bag file, now I need to align the color and depth of the record in video and save the aligned sequence image, but it is a little difficult for me.

  Let's discuss it in the other one.https://support.intelrealsense.com/hc/en-us/community/posts/360033198613 

  Thank you.

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