topic Where is the source code for the alignment function in RealSense SDK2.0? in Items with no label

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

idata — Mon, 04 Jun 2018 12:39:57 GMT

Hello,

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

{

public:

.....

}

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?

Regards,

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

MartyG — Mon, 04 Jun 2018 13:03:36 GMT

There is also a file in the source code called align.h in the src/proc folder.

https://github.com/IntelRealSense/librealsense/blob/093186bfaaf89a3bd140fc943daf46cd5a6eadc3/src/proc/align.h librealsense/align.h at 093186bfaaf89a3bd140fc943daf46cd5a6eadc3 · IntelRealSense/librealsense · GitHub

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

idata — Mon, 04 Jun 2018 23:09:32 GMT

Hi MartyG,

Thanks for letting me know align.h

It seems to me that the critical part of alignment is the following code in align.cpp:

frameset process(frameset frame)

{

(*_block)(frame);

rs2::frame f;

_queue.poll_for_frame(&f);

return frameset(f);

}

Nonetheless, from here, I cannot figure out how to get to the source code for actual calculations for the alignment. Is the source code available or hidden?

Regards,

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

MartyG — Tue, 05 Jun 2018 06:49:03 GMT

SDK 2.0 is fully open source, so it is unlikely there are hidden parts. They may just be very difficult to find. I went through the source code carefully and all roads of the investigation seemed to lead back to rs_processing.hpp, the file you'd already found.

This documentation page has an outline explanation of how Align is processed, and may give you some new leads to follow.

https://unanancyowen.github.io/librealsense2_apireference/classrs2_1_1align.html Intel® RealSense™ Cross Platform API: rs2::align Class Reference

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

idata — Tue, 05 Jun 2018 09:17:42 GMT

Thanks MartyG. I sent an email to the guy who created the website about the alignment function.

Best regards,

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

MartyG — Tue, 05 Jun 2018 09:22:07 GMT

If you mean UnaNancyOwen, their documentation site draws its contents directly from the official documentation and arranges it in a more user-friendly interface. Having said that, UnaNancyOwen is a very skilled developer, having created a set of sample programs for using SDK 2.0 camera functions such as depth and align with OpenCV. So maybe they can give you some useful insight.

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

idata — Tue, 05 Jun 2018 11:16:20 GMT

MartyG,

Yes, I meant UnaNancyOwen. He was quick in replying to my email. He said the alignment function is written in align.cpp. I will take a closer look.

In any case, thanks always for giving me helpful advices.

Best Regards,

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

MartyG — Tue, 05 Jun 2018 11:20:06 GMT

You are very welcome. It's great that UnaNancyOwen replied so fast. Have a great day!