AntoineWefit
commented
5 years ago But my question is how can I use the depth image from intel realsense viewer to convert the pointcloud?
Q1 : In the Viewer top right corner, the "save" icon will export the scenery to a ".ply" file.
or in C++, you'll need something like that :
// Declarations
rs2::pointcloud pc;
rs2::points points;
rs2::pipeline pipe;
// Start your pipeline somewhere around here
auto frames = pipe.wait_for_frames();
auto depth = frames.get_depth_frame();
auto color = frames.get_color_frame();
pc.map_to(color);
points = pc.calculate(depth);
points.export_to_ply("your_filename.ply", color);I can save the pointcloud .ply file correctly, but when i use the code below to read this .ply file, there is mistake: NO POLYGONS.
Q2 : I think that right now, the ".ply" file generated with the Viewer contains a point cloud exclusively (no polygon). You can generate the mesh with another program once you have a point cloud.
anranx
I chage the Depth Visualization/ Color Scheme from Jet to White to Black. use this kind of depth image:
the code i used below is workful for Kinect , I used the depth image from Kinect and Kinect's intrinsic. When I used the depth image from realsense viewer and changed the intrinsic, it generated a very strange radial pointcloud.
`cv::Mat img = cv::imread("E:/computer_Depth.png",-1);
ushort d = img.ptr
Is there any way to combine the realsense d435 camera intrinsic and depth images from realsense viewer to generate the pointcloud? 
ev-mp
I try to zoom it using the mouse, but still small.
When I change the depth unit to 0.0001, it means 0.1meter in each depth unit. Then I put the pointcloud into meshlab, it become bigger.
Advanced Controls / Depth Table :
because I will align the STL1(come from the pointcloud I captured) with STL2(come from CT reconstruction）so I want to keep the same unit. .mm is the universal unit.
I reconstruct the pointcloud in 0.001 unit and saved as .STL1, but it is too small compared to another STL 2reconstructed by CT.
RealSense-Customer-Engineering
HippoEug
lucasjinreal
goldwater668
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Issue Description
<Describe your issue / question / feature request / etc..> hi！I'm a beginner to study realsense d435.here are two questions I want to ask.
Q1. I download the SDK2.16.0 and the intel realsense viewer, I find there are some examples like rs_pointcloud \ rs_save to disk... these examples can show the realtime pointcloud. But my question is how can I use the depth image from intel realsense viewer to convert the pointcloud? I try the code below and get the very strange radial pointcloud, so I think maybe i am wrong. I want to read the depth image that I saved before then turn to the pointcloud like .pcd file.
include "stdafx.h"
include
include <boost/thread/thread.hpp>
include <pcl/range_image/range_image.h>
include <pcl/io/pcd_io.h>
include <pcl/visualization/range_image_visualizer.h>
include <pcl/visualization/cloud_viewer.h>
include <pcl/visualization/pcl_visualizer.h>
include <pcl/features/range_image_border_extractor.h>
include <pcl/keypoints/narf_keypoint.h>
include <pcl/console/parse.h>
include <pcl/PolygonMesh.h>
include
include <pcl/common/io.h>
include <pcl/point_cloud.h>
include <pcl/point_types.h>
include <pcl/PolygonMesh.h>
include
include
include <pcl/io/vtk_lib_io.h>
include <pcl/point_types.h>
include "math.h"
include <pcl/registration/correspondence_rejection_sample_consensus.h>
include <pcl/registration/correspondence_rejection_trimmed.h>
include <pcl/registration/icp.h>
include <opencv2\core\core.hpp>
include <opencv2\highgui\highgui.hpp>
include<pcl/io/pcd_io.h>
include<pcl/point_types.h>
pragma comment( lib, "opencv_highgui2412d.lib")
pragma comment( lib, "opencv_core2412d.lib")
typedef pcl::PointXYZRGB P_pcl; typedef pcl::PointCloud point_cloud;
typedef point_cloud::Ptr ptr_cloud;
const double camera_factor = 1;
const double camera_cx = 212.559662;// the resolution is 424*240 const double camera_cy = 123.307076; const double camera_fx = 213.512985; const double camera_fy = 213.512985;
// -----Main----- int main() { //
}
Q2. the second question is when i use the intel realsense viewer 3D form , I can save the pointcloud .ply file correctly, but when i use the code below to read this .ply file, there is mistake: NO POLYGONS.
include "pch.h"
include
include <pcl/common/io.h>
include <pcl/io/io.h>
include <pcl/point_cloud.h>
include <pcl/io/ply_io.h>
include <pcl/io/ply/ply.h>
include <pcl/console/parse.h>
include
include <pcl/point_types.h>
include <pcl/visualization/pcl_visualizer.h>
include <pcl/PolygonMesh.h>
include <pcl/io/ply_io.h>
include <pcl/io/vtk_lib_io.h>
include <pcl/io/vtk_io.h>
include
using namespace pcl; using namespace pcl::io; using namespace pcl::console; using namespace std;
int main(int argc, char** argv)
{ PolygonMesh cloud; pcl::visualization::PCLVisualizer viewer("PCL PolygonMesh"); string filename = "flower.ply"; pcl::io::loadPolygonFilePLY(filename, cloud); viewer.addPolygonMesh(cloud); viewer.setBackgroundColor(0.2, 0.0, 0.0); while (!viewer.wasStopped()) { viewer.spinOnce(); } return 0; }
My questions maybe very easy, but it still troubled me a lot. Can someone help for me ? THANKS A LOT!