{"id":17223548,"url":"https://github.com/mlouielu/realsense-align","last_synced_at":"2025-03-25T16:23:56.528Z","repository":{"id":203776677,"uuid":"658922805","full_name":"mlouielu/realsense-align","owner":"mlouielu","description":"Porting librealsense C++ align code to Python C++ extension. 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Align\ndepth and color image from `numpy` array without `librealsense` SDK\nand `rs:frame` infrastructure.\n\nPrerequisites\n-------------\n\n* Poetry\n* OpenMP\n\nBuild\n-----\n\n```bash\npoetry install\npoetry build\n```\n\nHow to use\n----------\n\nSee [tests/test_align.py](tests/test_align.py) for detail.\n\nRun the test code by `poetry run pytest tests`.\n\nPorting\n-------\n\n* [x] struct Intrinsic\n* [x] Depth to color align\n* [ ] Color to depth align\n\nTrade-off\n---------\n\n1. Don't care distortion: See\n[librealsense#1430](https://github.com/IntelRealSense/librealsense/issues/1430#issuecomment-375945916)\nfor more information.\n\n1. Don't care extrinsic: Assume the following:\n\n```en\nRotation: [[1, 0, 0], [0, 1, 0], [0, 0, 1]]\nTranslation: [0, 0, 0]\n```\n\nSee\n[src/proc/align.cpp](https://github.com/IntelRealSense/librealsense/blob/8ffb17b027e100c2a14fa21f01f97a1921ec1e1b/src/proc/align.cpp#L169)\nfor original implementation, and [rs2_extrinsicsStruct\nReference](https://intelrealsense.github.io/librealsense/doxygen/structrs2__extrinsics.html)\nfor `rs2_extrinsics` structure.\n\nLinks\n-----\n\n* License: [BSD 3-Clause Clear License](https://github.com/mlouielu/realsense-align/blob/main/LICENSE)\n\nLICENSE\n-------\n\n```text\nThe Clear BSD License\n\nCopyright (c) 2023 Louie Lu \u003clouielu@cs.unc.edu\u003e\nAll rights reserved.\n\nRedistribution and use in source and binary forms, with or without\nmodification, are permitted (subject to the limitations in the disclaimer\nbelow) provided that the following conditions are met:\n\n     * Redistributions of source code must retain the above copyright notice,\n     this list of conditions and the following disclaimer.\n\n     * Redistributions in binary form must reproduce the above copyright\n     notice, this list of conditions and the following disclaimer in the\n     documentation and/or other materials provided with the distribution.\n\n     * Neither the name of the copyright holder nor the names of its\n     contributors may be used to endorse or promote products derived from this\n     software without specific prior written permission.\n\nNO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY\nTHIS LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND\nCONTRIBUTORS \"AS IS\" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT\nLIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A\nPARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR\nCONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,\nEXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,\nPROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR\nBUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER\nIN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)\nARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\nPOSSIBILITY OF SUCH DAMAGE.\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmlouielu%2Frealsense-align","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmlouielu%2Frealsense-align","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmlouielu%2Frealsense-align/lists"}