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pcl-projection-rgb

中文文档

Gen1 RGB-D convertion on Host

Sample video

rgb-d

RGB-D conversion

In this experiment rgbd_creating_o3d.py/rgbd_creating_no_o3d.py allows you to convert depth in rectified_right frame to rgb camera frame

rgbd_creating_no_o3d.py will have some noise.

Point cloud with rgb

demogif

  • Use colorized_pont_cloud.py to obtain point could in rgb camera reference frame with color.(if you don't need color overlapped with rgb you can skip 2 steps)

Installation

python3 install_requirements.py

Note: python3 install_requirements.py also tries to install libs from requirements-optional.txt which are optional. This example contains open3d lib which is necessary for point cloud visualization and transformation. However, this library's binaries are not available for some hosts like raspberry pi and jetson. In times where open3D is not supported on your host. try rgbd_creating_no_o3d.py. This program works independent of open3D.

Calibrate camera (if needed)

To run this application, your device needs to be calibrated with rgb camera which was not carried out in devices before Dec 2020. Will soon provide an update new calibration tool to obtain rgb camera calibration

If you received the EEPROM error, like the one below:

legacy, get_right_intrinsic() is not available in version -1
recalibrate and load the new calibration to the device.