Porting librealsense C++ align code to Python C++ extension. Align
depth and color image from numpy array without librealsense SDK
and rs:frame infrastructure.
- uv
- OpenMP
uv buildpython -m pip install realsense-alignSee tests/test_align.py for detail.
Run the test code by pytest tests.
Set up the virtual environment using uv
uv sync
source .venv/bin/activateThen, run the code to show the RGB+Depth video
python examples/play_depth_video.py path/to/capture_00001- struct Intrinsic
- Depth to color align
- Color to depth align
-
Don't care distortion: See librealsense#1430 for more information.
-
Don't care extrinsic: Assume the following:
Rotation: [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
Translation: [0, 0, 0]
See
src/proc/align.cpp
for original implementation, and rs2_extrinsicsStruct
Reference
for rs2_extrinsics structure.
- License: BSD 3-Clause Clear License
The Clear BSD License
Copyright (c) 2023 Louie Lu <[email protected]>
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