Deproject pixel to point problem
Hello, I have two questions.
My camera is D435,
and I have the need to calculate the angle between two vectors.
Both my resolution of color and depth image are 640*480, and I've aligned the depth frame into color frame.
Now I want to use the function
rs.rs2_deproject_pixel_to_point()
to map the pixels into a 3D coordinate.
The function need a set of intrinsic parameter, I'm not sure whether it should be color or depth, would you please give me some help?
profile = pipeline.start(config)
prof = profile.get_stream(rs.stream.color or rs.stream.depth?)
intrin = prof.as_video_stream_profile().get_intrinsics()
In addition, is there any way to save/load intrinsic parameters, for example, save it into a text file and load it.
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I would recommend aligning to depth.
Page 38 and 39 of the RealSense 400 Series custom calibration white paper document have information about writing parameters to a .txt file using the CustomRW tool.
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