realsense-align 0.1.0

Python realsense align

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

• Poetry
• OpenMP

Build

poetry install
poetry build

How to use

See tests/test_align.py for detail.

Run the test code by poetry run 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

Porting

• struct Intrinsic
• Depth to color align
• Color to depth align

Trade-off

1. Don't care distortion: See librealsense#1430 for more information.

2. 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 <[e-mail]>
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