after align rgb to depth，the points calculated from depth image are not evenly distributed but a small pile of small

[tguan]

i calculate the points from aligned depth image,and it is devided into pieces,but if i do not align the depth image to color,it seems to be good.

__author__ = '关彤' #encoding:utf-8 #RGB-D图片和点云数据 import pyrealsense2 as rs import numpy as np import cv2   pc = rs.pointcloud() points = rs.points() # Create a pipelinett pipeline = rs.pipeline() config = rs.config() config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30) config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30) # Start streaming profile = pipeline.start(config) # Getting the depth sensor's depth scale depth_sensor = profile.get_device().first_depth_sensor() depth_scale = depth_sensor.get_depth_scale() print("Depth Scale is: " , depth_scale) # 移除背景,设置阈值 clipping_distance_in_meters =1 #1 meter clipping_distance = clipping_distance_in_meters / depth_scale align_to = rs.stream.color align = rs.align(align_to) # Streaming loop（串流循环）   while True: frames = pipeline.wait_for_frames() # Get frameset of color and depth depth = frames.get_depth_frame() color = frames.get_color_frame() if (not depth) or (not color): break # Align the depth frame to color frame aligned_frames = align.process(frames)   # Get aligned frames depth_frame = aligned_frames.get_depth_frame() # aligned_depth_frame is a 640x480 depth image depth_intrin = depth_frame.profile.as_video_stream_profile().intrinsics color_frame = aligned_frames.get_color_frame() # Validate that both frames are valid if not depth_frame or not color_frame: continue #点云 # Tell pointcloud object to map to this color frame #pc.map_to(color_frame) # Generate the pointcloud and texture mapping points = pc.calculate(depth_frame) testpoints = pc.calculate(depth)   depth_image = np.asanyarray(depth_frame.get_data()) color_image = np.asanyarray(color_frame.get_data())     depth_image2 = np.where((depth_image > clipping_distance) | (depth_image <= 0), 0, depth_image) depth_image2 = cv2.applyColorMap(cv2.convertScaleAbs(depth_image2, alpha=0.03), cv2.COLORMAP_BONE)#渲染图像depth_colormap depth_image = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_BONE) cv2.namedWindow('Align Example', cv2.WINDOW_AUTOSIZE)   cv2.imshow('Align Example', color_image) cv2.imshow('Align Example2', depth_image2) key=cv2.waitKey(1) if key == ord('q'): points.export_to_ply("point3.ply", color_frame) testpoints.export_to_ply("point0.ply", depth) break   pipeline.stop()  

[tguan]

the two kind of points are like this

[Eliza_D_Intel]

Hello tguan, Thank you for your interest in the Intel RealSense Technology. Could you please let us know how your output looks like? Thank you and best regards, Eliza

[Eliza_D_Intel]

Hello tguan, Could you please let us know if you require further assistance on this subject? Thank you, Eliza