[D455] Get PointCloud
Hi,
I want to get PointCloud from the D455 camera, how should I do?
I see some friends turn on IR, wait for 3 or 5 seconds then get point cloud. They said point cloud would be more stable. Is it true?
Do you have a standard process to get the best point cloud?
Thanks
-
Hi Nguyenduyduc14 If auto-exposure is enabled then it can be beneficial to skip the first several frames to give auto-exposure the opportunity to settle down, otherwise the first couple of frames may have problems in the image. It would not be necessary to wait longer than a second though, and skipping frames is not necessary if auto-exposure is disabled and exposure is being controlled manually.
If you wanted to capture a single frame then skipping the first several frames may be worthwhile so that you do not capture the very first frame and have incorrect exposure in it. If you are capturing a continuous stream though then it is likely not going to be necessary to perform a wait or a frame skip when starting a stream.
-
You can generate a point cloud easily using the 3D mode of the RealSense SDK's RealSense Viewer tool and export the cloud from the Viewer as a .ply format point cloud data file..
If you need to write your own program script, some links to simple code examples are below.
C++
https://dev.intelrealsense.com/docs/projection-in-intel-realsense-sdk-20#point-cloud
Python
https://github.com/IntelRealSense/librealsense/issues/4612#issuecomment-566864616
C#
Some more advanced point cloud examples are here:
C++
https://github.com/IntelRealSense/librealsense/tree/master/examples/pointcloud
Python
Please sign in to leave a comment.
Comments
3 comments