https://community.intel.com/t5/Items-with-no-label/Realsense-415-transformation-matrix/m-p/583432#M10893 <P>In RealSense SDK 2.0, a "Projection" system is used for coordinates, with two types of projection function: Projection and Deprojection.</P><P></P><P>Projection takes a point from a stream's 3D coordinate space, and maps it to a 2D pixel location on that stream's images. It is provided by the function rs2_project_point_to_pixel.</P><P></P><P>Deprojection takes a 2D pixel location on a stream's images, as well as a depth, specified in meters, and maps it to a 3D point location within the stream's associated 3D coordinate space. It is provided by the function rs2_deproject_pixel_to_point.</P><P></P><P>So it sounds like you should use Deprojection for a 2D to 3D coordinate conversion.</P><P></P><P><A href="https://github.com/IntelRealSense/librealsense/wiki/Projection-in-RealSense-SDK-2.0">https://github.com/IntelRealSense/librealsense/wiki/Projection-in-RealSense-SDK-2.0</A> Projection in RealSense SDK 2.0 · IntelRealSense/librealsense Wiki · GitHub</P><P></P><P>I do not have a C# script example for the rs2_deproject_pixel_to_point function, though there is discussion about mapping a pixel to a point that may be useful to you.</P><P></P><P> </P> Wed, 25 Apr 2018 13:06:33 GMT MartyG 2018-04-25T13:06:33Z https://community.intel.com/t5/Items-with-no-label/Realsense-415-transformation-matrix/m-p/583431#M10892 <P>Hi,</P><P></P><P>I'm using the Realsense 415 camera with the latest sdk c# wrapper,</P><P>I'm trying to figure how to get a transformation matrix from camera coordinate system to world coordinate system.</P><P>any idea?</P><P></P><P>Guy</P> Wed, 25 Apr 2018 12:53:33 GMT https://community.intel.com/t5/Items-with-no-label/Realsense-415-transformation-matrix/m-p/583431#M10892 GB3 2018-04-25T12:53:33Z https://community.intel.com/t5/Items-with-no-label/Realsense-415-transformation-matrix/m-p/583432#M10893 <P>In RealSense SDK 2.0, a "Projection" system is used for coordinates, with two types of projection function: Projection and Deprojection.</P><P></P><P>Projection takes a point from a stream's 3D coordinate space, and maps it to a 2D pixel location on that stream's images. It is provided by the function rs2_project_point_to_pixel.</P><P></P><P>Deprojection takes a 2D pixel location on a stream's images, as well as a depth, specified in meters, and maps it to a 3D point location within the stream's associated 3D coordinate space. It is provided by the function rs2_deproject_pixel_to_point.</P><P></P><P>So it sounds like you should use Deprojection for a 2D to 3D coordinate conversion.</P><P></P><P><A href="https://github.com/IntelRealSense/librealsense/wiki/Projection-in-RealSense-SDK-2.0">https://github.com/IntelRealSense/librealsense/wiki/Projection-in-RealSense-SDK-2.0</A> Projection in RealSense SDK 2.0 · IntelRealSense/librealsense Wiki · GitHub</P><P></P><P>I do not have a C# script example for the rs2_deproject_pixel_to_point function, though there is discussion about mapping a pixel to a point that may be useful to you.</P><P></P><P> </P> Wed, 25 Apr 2018 13:06:33 GMT https://community.intel.com/t5/Items-with-no-label/Realsense-415-transformation-matrix/m-p/583432#M10893 MartyG 2018-04-25T13:06:33Z