Align color frame to Depth and get colored point cloud on Android with Java

ArrayList mFilters = new ArrayList<>();
mFilters.add(new Pointcloud(StreamType.COLOR));
mFilters.add(new Align(StreamType.DEPTH));

private FrameSet applyFilters(FrameSet frameSet, List<Filter> filters) {
    if (filters == null)
        return frameSet;

    frameSet = frameSet.clone();

    for (FilterInterface f : filters) {
        FrameSet newSet = frameSet.applyFilter(f);
        frameSet.close();
        frameSet = newSet;
    }
    return frameSet;
}

FrameSet processed = applyFilters(frames, mFilters);
DepthFrame depthFrame = processed .first(StreamType.DEPTH).as(Extension.DEPTH_FRAME);
VideoFrame videoFframe = processed.first(StreamType.COLOR).as(Extension.VIDEO_FRAME);

I have two questions:
1. Is the original color frame in the processed frameset? If yes how to distinguish it from 
   the wrapped color frame?
2. If I align the depth frame to the color frame is the point cloud  defined in the color
frame space or the depth frame space?

Thank you.
Yixun

• MartyX Grover

  • November 04, 2025 07:20

  Hi Yixun Liu  Thanks for your questions.

   

  1.  If you wish to be able to access the original color frame at will then you would likely have to store the frame in a unique frame reference name (such as 'videoFrame_original') before depth to color alignment is performed.  Then you should be able to access the original unaligned color frame after alignment has taken place.

  2.  The point cloud will be based on the color coordinates because the origin of depth changes from the center-line of the left IR sensor to the center-line of the RGB color sensor when depth to color alignment is performed.

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• Yixun Liu

  • November 04, 2025 08:07

  Thank you so much for your quick response.

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