Using SURF in RealSense D435 Video C++

[jkim86]

Hi, I'm fairly new to opencv and i started it with RealSense D435.

I've done several sub-project for final one;

1. Detecting target on Image using SURF

2. Getting Depth Mat on Video

By using them, the final one would detect target on RGB Video and find depth of it.

I thought it would be easy, but.. stuck at using

matcher.match(descriptors_1, descriptors_2, matches);

when i compile with that one (which is so important part of SURF) there comes

Is there any expected problem for SURF in Video?

Here is the code

https://github.com/hydthemoon/question/blob/master/assertion_error.cpp question/assertion_error.cpp at master · hydthemoon/question · GitHub

I'd appreciate for any useful links and advice!

Thanks.

[MartyG]

I only know of one Librealsense-specific example of SURF, using the older 'legacy' Librealsense that came before SDK 2.0. ~In that example, the user was trying to find the depth of a pixel in the RGB image. In the end, the approach they took was to investigate the keypoints of the SURF algorithms and then look at the corresponding depth of it.

https://github.com/IntelRealSense/librealsense/issues/1459 Depth value of given pixel in RGB image · Issue # 1459 · IntelRealSense/librealsense · GitHub

Legacy RealSense is not compatible with the 400 Series cameras, so you would have to find a way to convert the principles to SDK 2.0 (Librealsense2).

There was also a case relating to using OpenCV with SURF where scripting was posted.

http://answers.opencv.org/question/139036/register-ir-image-to-distorted-rgb/ register ir image to distorted rgb - OpenCV Q&A Forum

In that article, they suggest that legacy Librealsense could be used to register depth / IR to RGB with the instruction rs_project_point_to_pixel. Librealsense2 has its own version of this called rs2_project_point_to_pixel

[jkim86]

Thanks for your help.

Guess i should bought R200 to apply your first example ..

And actually second one deals with 'Image' but the problem is on 'Video' so..

I think I should concentrate on that Runtime Error (guess i need to check DLLs ?)

Thanks!

[Sahira_Intel]

Hi HydtheMoon,

Were you able to resolve your issue, or did you need further assistance. Please let us know!

Regards,

Intel Customer Support