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https://github.com/mlouielu/realsense-align

Porting librealsense C++ align code to Python C++ extension. Align depth and color image from numpy array without librealsense SDK and rs:frame infrastructure.
https://github.com/mlouielu/realsense-align

align realsense realsense-python

Last synced: about 1 month ago
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Porting librealsense C++ align code to Python C++ extension. Align depth and color image from numpy array without librealsense SDK and rs:frame infrastructure.

Host: GitHub
URL: https://github.com/mlouielu/realsense-align
Owner: mlouielu
License: bsd-3-clause-clear
Created: 2023-06-26T19:20:12.000Z (over 1 year ago)
Default Branch: main
Last Pushed: 2024-04-02T14:53:07.000Z (8 months ago)
Last Synced: 2024-04-02T22:24:37.148Z (8 months ago)
Topics: align, realsense, realsense-python
Language: C++
Homepage:
Size: 93.8 KB
Stars: 0
Watchers: 2
Forks: 0
Open Issues: 0
Metadata Files:
- Readme: README.md
- License: LICENSE
- Citation: CITATION.cff

Awesome Lists containing this project

README

realsense-align
===============

[![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit)](https://github.com/pre-commit/pre-commit)
[![License: BSD 3-Clause-Clear](https://img.shields.io/badge/License-BSD%203--Clause--Clear-green.svg)](https://spdx.org/licenses/BSD-3-Clause-Clear.html)

Porting `librealsense` C++ align code to Python C++ extension. Align
depth and color image from `numpy` array without `librealsense` SDK
and `rs:frame` infrastructure.

Prerequisites
-------------

* Poetry
* OpenMP

Build
-----

```bash
poetry install
poetry build
```

How to use
----------

See [tests/test_align.py](tests/test_align.py) for detail.

Run the test code by `poetry run pytest tests`.

Porting
-------

* [x] struct Intrinsic
* [x] Depth to color align
* [ ] Color to depth align

Trade-off
---------

1. Don't care distortion: See
[librealsense#1430](https://github.com/IntelRealSense/librealsense/issues/1430#issuecomment-375945916)
for more information.

1. Don't care extrinsic: Assume the following:

```en
Rotation: [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
Translation: [0, 0, 0]
```

See
[src/proc/align.cpp](https://github.com/IntelRealSense/librealsense/blob/8ffb17b027e100c2a14fa21f01f97a1921ec1e1b/src/proc/align.cpp#L169)
for original implementation, and [rs2_extrinsicsStruct
Reference](https://intelrealsense.github.io/librealsense/doxygen/structrs2__extrinsics.html)
for `rs2_extrinsics` structure.

Links
-----

* License: [BSD 3-Clause Clear License](https://github.com/mlouielu/realsense-align/blob/main/LICENSE)

LICENSE
-------

```text
The Clear BSD License

Redistribution and use in source and binary forms, with or without
modification, are permitted (subject to the limitations in the disclaimer
below) provided that the following conditions are met:

* Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.

* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.

* Neither the name of the copyright holder nor the names of its
contributors may be used to endorse or promote products derived from this
software without specific prior written permission.

NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY
THIS LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
```