For a computer vision application, we're trying to access the depth of four specific pixels. We tried to do that with several member functions of the "points" class but it didn't work.
Thanks for any help!
// ---Capture a snapshot via realsense
// Declare pointcloud object, for calculating pointclouds and texture mappings
rs2::pointcloud pc;
// Declare points object
rs2::points points;
//--Create a Pipeline - this serves as an API for streaming and processing frames
rs2::pipeline pipe;
//Create a configuration for configuring the pipeline with a non default profile
rs2::config cfg;
//Add desired streams to configuration
cfg.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);
//--Configure and start the pipeline
pipe.start(cfg);
//--Camera warmup - dropping several first frames to let auto-exposure stabilize
auto frames = pipe.wait_for_frames();
//--Get one color and one depth frame
rs2::frame color_frame = frames.get_color_frame();
rs2::depth_frame depth_fr = frames.get_depth_frame();
// Generate the pointcloud and texture mappings
points = pc.calculate(depth_fr);
// Tell pointcloud object to map to this color frame
pc.map_to(color_frame);
// Get depth coordinates and print them
auto vertices = points.get_vertices();
