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IntelRealSense / librealsense

Intel® RealSense™ SDK
https://www.intelrealsense.com/
Apache License 2.0
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D435ir : multi-camera stitching pointcloud data tutorial in Python #13472

Open Prefiro-Prathik opened 4 hours ago

Prefiro-Prathik commented 4 hours ago
Required Info
Camera Model { D435 }
Firmware Version (Latest)
Operating System & Version {Win (8.1/10)
Platform PC
SDK Version latest
Language python
Segment Robot

Issue Description

Im trying to connect two multicameras from intel realsense D435IR and I require the following information as I was unable to find any online:

  1. How to Hardware Sync the two cameras,
  2. Using python how do i stitch the point clouds (I want to later run an object detection model using opencv).

any existing issues or links for this would be of great help

MartyG-RealSense commented 3 hours ago

Hi @Prefiro-Prathik Thanks very much for your questions.

  1. Intel's guide to multiple camera hardware sync can be found at the link below.

https://dev.intelrealsense.com/docs/multiple-depth-cameras-configuration

  1. It is possible to combine point clouds in Python using the RealSense SDK's rs2_transform_point_to_point instruction, which can combine data from different viewpoints using a procedure called an affine transform. There are not many references for using this instruction though. https://github.com/IntelRealSense/librealsense/issues/5583#issuecomment-570805578 may be helpful.