3 Replies Latest reply on Aug 16, 2017 1:17 PM by Intel Corporation

    Converting the Depth Image to Point Cloud

    Solias

      Hello,

       

      I am trying to do computer vision with the R200 camera attached to the Aero board. I am using Python and OpenCV and currently I am able to retrieve frames using the RTSP stream:

       

      import cv2

      rgbCap = cv2.VideoCapture('rtsp://192.168.8.1:8554/video13?width=640&height=480')

      depthCap = cv2.VideoCapture('rtsp://192.168.8.1:8554/rsdepth?width=640&height=480')

       

      This works but the depth frames are still blue coloured images with values ranging 0 to 255. I need to convert the depth into points [x,y,z].

      Where do I find the camera intrinsic parameters on the R200 to go about doing this?

      Also, if possible, how would I align the depth image to match the RGB image?

       

      Thanks