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realsense-align
Porting librealsense C++ align code to Python C++ extension. Align
depth and color image from numpy array without librealsense SDK
and rs:frame infrastructure.
Prerequisites
- uv
- OpenMP
Build
uv build
Install
Install from PyPI
python -m pip install realsense-align
How to use
See tests/test_align.py for detail.
Run the test code by pytest tests.
Example
mmwave-capture-std RGB+Depth Video Player
Set up the virtual environment using uv
uv sync
source .venv/bin/activate
Then, run the code to show the RGB+Depth video
python examples/play_depth_video.py path/to/capture_00001
[IPorting
- struct Intrinsic
- Depth to color align
- Color to depth align
Trade-off
-
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.
Links
- License: BSD 3-Clause Clear License
LICENSE
The Clear BSD License
Copyright (c) 2023 Louie Lu <louielu@cs.unc.edu>
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted (subject to the limitations in the disclaimer
below) provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the copyright holder nor the names of its
contributors may be used to endorse or promote products derived from this
software without specific prior written permission.
NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY
THIS LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
1 maintainer
Metadata
1 maintainer
Release files for realsense-align 0.1.4
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