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Hello,
I recently learned that there is a left camera (color for D415 and grayscale for D435) that provides a frame perfectly aligned to a depth frame. I enable the stream of standard color camera as follows:
rs2::config cfg;
cfg.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_BGR8, 60);
How should I modify the code to enable the stream of the left camera? When enabling it, I'd like to specify the size of frame (e.g., 640 x 480) and the frame rate (e.g., 60).
Regards,
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In RealSense stereo cameras like the D415 and D435, there are two infrared sensors (left and right) and a single RGB sensor.
The discussion below may help you in mapping color to depth. At the bottom of the page,a user shares their own script for how they did it.
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MartyG,
Thanks for your advice as always. Actually, it was my misunderstanding that there was an extra color camera. I figured a way to circumvent the necessity of color-depth alignment with D415 (p. 7 on https://realsense.intel.com/wp-content/uploads/sites/63/BKMs-For-Tuning-RealSense_D4xx_Cameras_WP_1.7.pdf https://realsense.intel.com/wp-content/uploads/sites/63/BKMs-For-Tuning-RealSense_D4xx_Cameras_WP_1.7.pdf )
Regards,
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You are most welcome. It's great that you found a solution that works for you.
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