Point Clould Question ZR300

[AJina]

Hello I'm using the ZR300. I'm trying to a develop a program where you can click on a pixel in stream from the zr300(color/ir) and then get the x, y, z in real world coordinates.

Using the tutorial cpp-pointclould. I want to get a specific pixel and find it's coordinates in x,y,z in meters. These two lines I think can help.

rs::float2 depth_pixel = {(float)dx, (float)dy};

rs::float3 depth_point = depth_intrin.deproject(depth_pixel, depth_in_meters);

Can I just replace the dx and dy with a pixel location on the ir or color image? Is it possible to get the x y z from that pixel by plugging in it's location into that dx, dy. Then read out the real world coordinates with depth_point.x/y/z?

Thanks,

Akash Jinandra

[idata · Accepted solution]

Hi Akash,

Thanks for your interest in the Intel RealSense Technology. It seems that the "deprojec" API is now obsolete and has been replaced with rs_deproject_pixel_to_point. I would like to share this document that may help you with your implementation: https://github.com/IntelRealSense/librealsense/blob/f482fc3a9bb13d3ea09a567294131073877087ee/doc/projection.md https://github.com/IntelRealSense/librealsense/blob/f482fc3a9bb13d3ea09a567294131073877087ee/doc/projection.md. Hope you find this information useful. Kind Regards,-Yermi A.

[AJina]

Hi Yermi,

I was wondering if there is any example code using the rs_deproject_pixel_to_point? The API gives some hints, but unless I see it in action, I'm not sure how it actually could be implemented

[idata]

Yes, please take a look at the line 495 in https://github.com/IntelRealSense/librealsense/blob/ff81ad9d4c6d320707ced8b48bd12359475d30ff/src/image.cpp https://github.com/IntelRealSense/librealsense/blob/ff81ad9d4c6d320707ced8b48bd12359475d30ff/src/image.cpp

Regards,-Yermi A.