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IntelRealSense / librealsense

Intel® RealSense™ SDK
https://www.intelrealsense.com/
Apache License 2.0
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How to align a small region or a point in depth frame to color frame using D435 ? #4002

Open jiang8088 opened 5 years ago

jiang8088 commented 5 years ago
Required Info
Camera Model { D435 }
Firmware Version (Open RealSense Viewer --> Click info)
Operating System & Version {Win (8.1/10) / Linux (Ubuntu 16)
Kernel Version (Linux Only) (e.g. 4.14.13)
Platform upboard
SDK Version { librealsense/ 2.<?>.<?> }
Language {C/C++/opencv/pcl/ }
Segment {Robot/Smartphone/VR/AR/others }

Issue Description

<Describe your issue / question / feature request / etc..> I have a question about depth and RGB alignment. Librealsense's "align sample" can works properly。But ， it took too much time to run the code：“auto processed = align.process(frameset)”. In my project, I just need to align a small area or a point from depth data to color data，not the whole frame. How can I align a small region or a point from depth to color . thank you very much!

RealSenseCustomerSupport commented 5 years ago

Hi jiang8088,

I am not aware of such way yet, but you can look into the align process and come up with your method(s) for the needs (specifying a smaller area or just a point): https://github.com/IntelRealSense/librealsense/blob/master/src/proc/align.cpp#L233Hi

Hope this can be helpful.

Thanks!

dorodnic commented 5 years ago

It makes sense to add this functionality in future releases. We were discussing crop processing block that would accomplish similar purpose

RealSenseCustomerSupport commented 4 years ago

We plan to implement this, but there is no fix schedule yet. Thanks for your understanding.

RI-DH commented 2 years ago

48/5000 I also have the same need to improve the running speed of the program, but I have no idea about how to set ROI. I want to know if you have solved this problem.

RealSenseCustomerSupport commented 2 years ago

@RI-DH this feature request has not been implemented yet; it is on the internal request list however is prioritized as low. I'm not sure if @jiang8088 or others in the community have developed a work-around.

MartyG-RealSense commented 2 years ago

Hi @jiang8088 I would like to update you that there is no further progress to report on the feature request at the time of writing this since the last update above in December 2021.