7 Replies Latest reply on Jun 5, 2018 5:20 AM by MartyG

    Where is the source code for the alignment function in RealSense SDK2.0?





      I am trying to figure out where the source code (C++) is for the alignment function in RealSense SDK2.0 and wonder if someone can give me an advice.


      Specifically, I wrote codes for aligning a depth frame to the corresponding color frame as follows:





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


      rs2::align align(rs2_stream::RS2_STREAM_COLOR);


      rs2::frameset aligned_frames = align.process(frames);



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


      rs2::frame depth_frame = aligned_frames.get_depth_frame();



      I'd like to see source codes for checking how the alignment is accomplished. I found the following codes in "rs_processing.hpp" but I do not see any code for actual calculations for the alignment.



      class align







      Also, I've found that "align.cpp" has the "void align_images()" function but I am not sure if this is the same as the alignment function above.


      Where can I find the source code for the alignment function?