How to use the pyrealsense2.rs2_deproject_pixel_to_point function in pyrealsense2

To help you get started, we’ve selected a few pyrealsense2 examples, based on popular ways it is used in public projects.

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nateroblin33 / 3d-bone-tracking-tool / files / speedcam.py View on Github

coordp1 = [float(xp1),float(yp1)]
            coordp2 = [float(xp2),float(yp2)]
            
            coordu1 = [float(xu1),float(yu1)]
            coordu2 = [float(xu2),float(yu2)]
            
            coordt1 = [float(xt1),float(yt1)]
            coordt2 = [float(xt2),float(yt2)]
            
            coordw1 = [float(xw1),float(yw1)]
            coordw2 = [float(xw2),float(yw2)]

            
            pointg1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordg1, depthg1)
            pointg2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordg2, depthg2)
            
            pointb1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordb1, depthb1)
            pointb2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordb2, depthb2)
            
            pointy1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordy1, depthy1)
            pointy2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordy2, depthy2)
            
            pointr1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordr1, depthr1)
            pointr2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordr2, depthr2)
            
            pointo1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordo1, deptho1)
            pointo2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordo2, deptho2)
            
            pointp1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordp1, depthp1)
            pointp2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordp2, depthp2)

nateroblin33 / 3d-bone-tracking-tool / files / manualframe.py View on Github

coordo2 = [float(xo2),float(yo2)]

        coordp1 = [float(xp1),float(yp1)]
        coordp2 = [float(xp2),float(yp2)]

        coordu1 = [float(xu1),float(yu1)]
        coordu2 = [float(xu2),float(yu2)]

        coordt1 = [float(xt1),float(yt1)]
        coordt2 = [float(xt2),float(yt2)]

        coordw1 = [float(xw1),float(yw1)]
        coordw2 = [float(xw2),float(yw2)]


        pointg1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordg1, depthg1)
        pointg2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordg2, depthg2)

        pointb1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordb1, depthb1)
        pointb2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordb2, depthb2)

        pointy1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordy1, depthy1)
        pointy2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordy2, depthy2)

        pointr1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordr1, depthr1)
        pointr2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordr2, depthr2)

        pointo1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordo1, deptho1)
        pointo2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordo2, deptho2)

        pointp1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordp1, depthp1)
        pointp2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordp2, depthp2)

nateroblin33 / 3d-bone-tracking-tool / files / manualframe.py View on Github

pointb1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordb1, depthb1)
        pointb2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordb2, depthb2)

        pointy1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordy1, depthy1)
        pointy2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordy2, depthy2)

        pointr1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordr1, depthr1)
        pointr2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordr2, depthr2)

        pointo1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordo1, deptho1)
        pointo2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordo2, deptho2)

        pointp1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordp1, depthp1)
        pointp2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordp2, depthp2)

        pointu1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordu1, depthu1)
        pointu2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordu2, depthu2)

        pointt1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordt1, deptht1)
        pointt2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordt2, deptht2)

        pointw1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordw1, depthw1)
        pointw2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordw2, depthw2)

        # Fixes problem if there is only one dot of a color visible
        if pointg1 == pointg2:
            depthg2 = 0
            coordg2 = [0,0]
            pointg2 = [0,0,0]
            badframe = 1
        if pointb1 == pointb2:
            depthb2 = 0

nateroblin33 / 3d-bone-tracking-tool / files / speedcam.py View on Github

pointy2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordy2, depthy2)
            
            pointr1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordr1, depthr1)
            pointr2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordr2, depthr2)
            
            pointo1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordo1, deptho1)
            pointo2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordo2, deptho2)
            
            pointp1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordp1, depthp1)
            pointp2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordp2, depthp2)
            
            pointu1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordu1, depthu1)
            pointu2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordu2, depthu2)
            
            pointt1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordt1, deptht1)
            pointt2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordt2, deptht2)
            
            pointw1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordw1, depthw1)
            pointw2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordw2, depthw2)
            
            # Fixes problem if there is only one dot of a color visible
            if pointg1 == pointg2:
                depthg2 = 0
                coordg2 = [0,0]
                pointg2 = [0,0,0]
                badframe = 1
            if pointb1 == pointb2:
                depthb2 = 0
                coordb2 = [0,0]
                pointb2 = [0,0,0]
                badframe = 1
            if pointy1 == pointy2:

nateroblin33 / 3d-bone-tracking-tool / files / manualframe.py View on Github

coordt1 = [float(xt1),float(yt1)]
        coordt2 = [float(xt2),float(yt2)]

        coordw1 = [float(xw1),float(yw1)]
        coordw2 = [float(xw2),float(yw2)]


        pointg1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordg1, depthg1)
        pointg2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordg2, depthg2)

        pointb1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordb1, depthb1)
        pointb2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordb2, depthb2)

        pointy1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordy1, depthy1)
        pointy2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordy2, depthy2)

        pointr1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordr1, depthr1)
        pointr2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordr2, depthr2)

        pointo1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordo1, deptho1)
        pointo2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordo2, deptho2)

        pointp1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordp1, depthp1)
        pointp2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordp2, depthp2)

        pointu1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordu1, depthu1)
        pointu2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordu2, depthu2)

        pointt1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordt1, deptht1)
        pointt2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordt2, deptht2)

nateroblin33 / 3d-bone-tracking-tool / files / speedcam.py View on Github

coordp2 = [float(xp2),float(yp2)]
            
            coordu1 = [float(xu1),float(yu1)]
            coordu2 = [float(xu2),float(yu2)]
            
            coordt1 = [float(xt1),float(yt1)]
            coordt2 = [float(xt2),float(yt2)]
            
            coordw1 = [float(xw1),float(yw1)]
            coordw2 = [float(xw2),float(yw2)]

            
            pointg1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordg1, depthg1)
            pointg2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordg2, depthg2)
            
            pointb1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordb1, depthb1)
            pointb2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordb2, depthb2)
            
            pointy1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordy1, depthy1)
            pointy2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordy2, depthy2)
            
            pointr1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordr1, depthr1)
            pointr2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordr2, depthr2)
            
            pointo1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordo1, deptho1)
            pointo2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordo2, deptho2)
            
            pointp1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordp1, depthp1)
            pointp2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordp2, depthp2)
            
            pointu1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordu1, depthu1)
            pointu2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordu2, depthu2)

nateroblin33 / 3d-bone-tracking-tool / files / manualframe.py View on Github

coordw1 = [float(xw1),float(yw1)]
        coordw2 = [float(xw2),float(yw2)]


        pointg1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordg1, depthg1)
        pointg2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordg2, depthg2)

        pointb1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordb1, depthb1)
        pointb2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordb2, depthb2)

        pointy1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordy1, depthy1)
        pointy2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordy2, depthy2)

        pointr1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordr1, depthr1)
        pointr2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordr2, depthr2)

        pointo1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordo1, deptho1)
        pointo2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordo2, deptho2)

        pointp1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordp1, depthp1)
        pointp2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordp2, depthp2)

        pointu1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordu1, depthu1)
        pointu2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordu2, depthu2)

        pointt1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordt1, deptht1)
        pointt2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordt2, deptht2)

        pointw1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordw1, depthw1)
        pointw2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordw2, depthw2)

nateroblin33 / 3d-bone-tracking-tool / files / manualframe.py View on Github

pointg2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordg2, depthg2)

        pointb1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordb1, depthb1)
        pointb2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordb2, depthb2)

        pointy1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordy1, depthy1)
        pointy2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordy2, depthy2)

        pointr1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordr1, depthr1)
        pointr2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordr2, depthr2)

        pointo1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordo1, deptho1)
        pointo2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordo2, deptho2)

        pointp1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordp1, depthp1)
        pointp2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordp2, depthp2)

        pointu1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordu1, depthu1)
        pointu2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordu2, depthu2)

        pointt1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordt1, deptht1)
        pointt2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordt2, deptht2)

        pointw1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordw1, depthw1)
        pointw2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordw2, depthw2)

        # Fixes problem if there is only one dot of a color visible
        if pointg1 == pointg2:
            depthg2 = 0
            coordg2 = [0,0]
            pointg2 = [0,0,0]
            badframe = 1

nateroblin33 / 3d-bone-tracking-tool / files / manualframe.py View on Github

coordp1 = [float(xp1),float(yp1)]
        coordp2 = [float(xp2),float(yp2)]

        coordu1 = [float(xu1),float(yu1)]
        coordu2 = [float(xu2),float(yu2)]

        coordt1 = [float(xt1),float(yt1)]
        coordt2 = [float(xt2),float(yt2)]

        coordw1 = [float(xw1),float(yw1)]
        coordw2 = [float(xw2),float(yw2)]


        pointg1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordg1, depthg1)
        pointg2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordg2, depthg2)

        pointb1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordb1, depthb1)
        pointb2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordb2, depthb2)

        pointy1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordy1, depthy1)
        pointy2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordy2, depthy2)

        pointr1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordr1, depthr1)
        pointr2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordr2, depthr2)

        pointo1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordo1, deptho1)
        pointo2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordo2, deptho2)

        pointp1 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordp1, depthp1)
        pointp2 = rs.rs2_deproject_pixel_to_point(depth_intrin, coordp2, depthp2)

IntelRealSense / librealsense / wrappers / python / examples / opencv_pointcloud_viewer.py View on Github

def get_point(x, y):
            p = rs.rs2_deproject_pixel_to_point(intrinsics, [x, y], d)
            line3d(out, orig, view(p), color)
            return p

How to use the pyrealsense2.rs2_deproject_pixel_to_point function in pyrealsense2

To help you get started, we’ve selected a few pyrealsense2 examples, based on popular ways it is used in public projects.

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