D435i real world coordinates

Getirfanhabeeb

November 06, 2020 11:04

Hello

I am trying to convert pixel coordinates to real world coordinates.

But I don't find the maths behind this.

I want to get the real world coordinates of required pixel coordinates.

So please help me by providing the equations used for this conversion.

Thank you

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3 comments

MartyX Grover

November 06, 2020 11:17
Hi Getirfanhabeeb In the RealSense SDK, converting 2D pixel coordinates to 3D world coordinates is called deprojection and is described in the SDK's Projection documentation.

https://github.com/IntelRealSense/librealsense/wiki/Projection-in-RealSense-SDK-2.0

In the SDK, deprojection can be performed with a functon called rs2_deproject_pixel_to_point
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Getirfanhabeeb

November 07, 2020 05:54
How to check the default values of "rs2_intrinsics"?
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MartyG

November 07, 2020 06:53
If you wanted to retrieve intrinsics with programming then you could use get_intrinsics()

https://dev.intelrealsense.com/docs/api-how-to#section-get-video-stream-intrinsics

You can also list intrinsics by one of these methods:

1. Using the command rs-enumerate-devices -c

2. Using the sensor-control example program

https://github.com/IntelRealSense/librealsense/tree/master/examples/sensor-control
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