Question) I got align problem in D435.

[mgum1]

How can i align RGB & Depth in D435?

Intel gives example to align RGB camera and Depth(IR) camera, but i need adapt to opencv.

the example show only "align in render", so i can't use them because i will use below function.

Mat color(Size(640, 480), CV_8UC3, (void*)color_frame.get_data(), Mat::AUTO_STEP);

so, i need align frame like below sentence form.

rs2::frameset frames = pipe.wait_for_frames();

rs2::frame color_frame = frames.get_color_frame();

rs2::frame depth_frame = color_map(frames.get_depth_frame());

So, is it possible that i can use align function like below ex) sentence?

ex) rs2:: frameset align_frame = ...... allocate_composite_frame......

OR, is there any function like "depth_aligned_to_color" in D435 like SR300?

thank you!

[MartyG · Accepted solution]

Developer UnaNancyOwen has written a RealSense sample program that demonstrates various basic functions, including Align, that makes use of OpenCV.

http://unanancyowen.com/en/realsense-sdk-2-samples/ Intel RealSense SDK 2 (librealsense2) Sample Program – Summary?Blog

https://github.com/UnaNancyOwen/RealSense2Sample GitHub - UnaNancyOwen/RealSense2Sample: RealSense SDK 2 Sample Program

[mgum1]

Thank alot !!