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IntelRealSense / librealsense

Intel® RealSense™ SDK
https://www.intelrealsense.com/
Apache License 2.0
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Question about camera alignment of different stream images #10009

Closed wokanmanhua closed 2 years ago

wokanmanhua commented 2 years ago
Required Info
Camera Model { D435i }
Firmware Version (05.12.15.50)
Operating System & Version {Win 10}
Platform PC
SDK Version { 2.49.0 }
Language {python }
Segment {others }

Issue Description

I know that rs.align can be used to align the depth map with RGB images, but what is the way to align the images of two near-infrared channels with RGB images?Thank you!

MartyG-RealSense commented 2 years ago

Hi @wokanmanhua Usually, it is compulsory that depth is one of the stream types that is involved in the alignment operation. There is a Python example of aligning depth, RGB and infrared at https://github.com/IntelRealSense/librealsense/issues/5093 though.

Alternatively, a RealSense team member made a suggestion in https://github.com/IntelRealSense/librealsense/issues/1556#issuecomment-389061477 regarding a possible method of aligning IR and color.

A RealSense user in https://github.com/IntelRealSense/librealsense/issues/5963#issuecomment-638403524 shared their own method for aligning left and right infrared and color by making use of OpenCV instructions. The script is C++ but it may provide some useful insights for approaching developing a solution in Python.

MartyG-RealSense commented 2 years ago

Hi @wokanmanhua Do you require further assistance with this case, please? Thanks!

MartyG-RealSense commented 2 years ago

Case closed due to no further comments received.