How do I transform a D435 point cloud using the pose from a T265 tracking camera in Python

[haldi]

I was unable to find a simple way to multiply a point cloud using the pose generated from a T265 tracking camera. Here are some possibilities:

1. apply an transform prior to acquisition by modifing extrinsics of D435 dynamically based on T265 pose
2. Looping through the D435 point cloud and doing transform_point_to_point
3. Use the align class. Trying to generate a composite_frame using frame_source.allocate_composite_frame throws an incompatible function arguments exception. Looking at the python.cpp of allocate_composite_frame it has a note indicating "does anything special need to be done for the vector argument".

Suggestions much appreciated.

Haldi

[Alexandru_O_Intel]

Hello haldi, Thank you for your interest in the Intel RealSense T265 Tracking Camera. We wanted to let you know that we are investigating and will get back to you with an answer as soon as possible. Best regards, Alexandru