Raw stream - Color and Depth

[Oleg_K_1]

Hi,

I am trying to get a color picture and it's depth map, but when i switch from one to another (SDK: Raw stream C# - color/depth) i see the pictures i get don't correspond to each other (pixel x,y at color picture doesn't match to pixel x,y at depth picture). Is this the way it should be? Am i doing something wrong?

Thanks a lot,

Oleg

[Oleg_K_1]

For instance, this are 2 corresponding pics, color and depth, of the same scene. Is there any transformation/translation between the 2 streams?

[Bryan_B_Intel1]

Hi Oleg - Does this help? https://software.intel.com/sites/landingpage/realsense/camera-sdk/v1.1/documentation/html/index.html?manuals_coordinates_mapping.html

[Oleg_K_1]

Hi Bryan,

Yes, I think this will help, i'll try it. 

Thanks a lot!

Oleg

[samontab]

These images come from different cameras, located at different places, with different lenses, sensors, etc.

This results in a different region of the world being imaged into each camera.

If you want to to have a pixel to pixel corresponding images, you need to project one image into the other.

For example this creates a depth image that matches the color image:

https://software.intel.com/sites/landingpage/realsense/camera-sdk/v1.1/documentation/html/index.html?createdepthimagemappedtocolor_pxcprojection.html

You can also go the other way around, creating a color image that matches the depth image:

https://software.intel.com/sites/landingpage/realsense/camera-sdk/v1.1/documentation/html/index.html?createcolorimagemappedtodepth_pxcprojection.html

[Oleg_K_1]

Thanks, will try that too!