Whether it is possible to use the formula to align depth and color frames through camera parameters

• MartyG

  • July 01, 2019 12:04
  • Edited

  If you are seeking to align the depth and color streams, the RealSense SDK has a couple of example programs for doing this.

  Align

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

  Align_Advanced

  https://github.com/IntelRealSense/librealsense/tree/master/examples/align-advanced

  There are also a couple of examples in the Python language called align_depth2color.py and distance_to_object

  https://github.com/IntelRealSense/librealsense/blob/master/wrappers/python/examples/align-depth2color.py

  https://github.com/IntelRealSense/librealsense/blob/jupyter/notebooks/distance_to_object.ipynb

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• 1106569356

  • July 02, 2019 02:11

  Can I save my depth and color aligned depth as my color and color aligned depth?Like the diagram in the following example.https://github.com/IntelRealSense/librealsense/blob/jupyter/notebooks/distance_to_object.ipynb

  

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• MartyG

  • July 02, 2019 06:36
  • Edited

  I do not know of a way to save images back to a file such as a bag once they have been aligned and maintain the alignment in the file.  You could though convert the aligned data to a point cloud and save it as a .ply format file.

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• 1106569356

  • July 03, 2019 02:31

  Thank you ! I will try this method, but I do not know how to find the points corresponding to the color image in the aligned.ply.

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