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Align refactoring #1068

Merged
merged 3 commits into from
Jan 24, 2018
Merged

Align refactoring #1068

merged 3 commits into from
Jan 24, 2018

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zivsha
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@zivsha zivsha commented Jan 24, 2018

Refactored align processing block.

  1. Fixed stream-to-depth alignment
    • Using depth deprojection to "reverse" map each frame, instead of previous method of reversing the transformation
  2. Added support for multiple-streams-to-depth alignment.
    • E.g. passing Color+Infrared+Depth to align when aligning to depth will return a frameset of 3 images where both Color and Ingrared frames are aligned to depth

Depth to Color:

image

Color to Depth:

image

Technical changes

  1. Made align object stateless (up to which stream to align against).
    • Intrinsics / extrinsics / etc.. are fetched per frame (non-noticeable performance impact)
  2. Moved internal_frame_processor_callback to types.h to make it common (and used it in align).

zivsha added 3 commits January 24, 2018 17:02
@zivsha
Refactored align to fix stream-to-depth alignment and support multipl…
62a51f7 
…e-streams-to-depth alignment.

Made align object stateless (up to which stream to align agains).
Moved internal_frame_processor_callback to types.h to make it common (and used in align).
@zivsha
Merge remote-tracking branch 'PublicLibrealsense/development' into al…
0e8729f 
…ign_refactor
@zivsha
Fixed Linux compilation
1bf59f0
@dorodnic
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Manually tested on MacOS

@dorodnic dorodnic merged commit 1bf59f0 into IntelRealSense:development Jan 24, 2018
@zivsha zivsha mentioned this pull request Jan 24, 2018
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@zivsha zivsha deleted the align_refactor branch February 4, 2018 07:16
@Superlee506
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Hi, thanks for this work, what's the difference between "rs.align" and "profile.get_extrinsics_to"? Is the latter function do the same thing with the former one?

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@dorodnic dorodnic dorodnic approved these changes

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@zivsha @dorodnic @Superlee506