pointcloud.calculate and points.export_to_ply in C#

[jacobusp]

Required Info
Camera Model	D415
Firmware Version	05.11.01.100
Operating System & Version	Win 10
Platform	PC
SDK Version	2.0
Language	C#

Issue Description

I am trying to do two things with the C# wrapper:

• Retrieving a Points object from a DepthFrame.
• Saving this data (Points) to a pointcloud file (.ply for example).

In C++ that would look like:

// Retrieve the data.
auto frames = pipe.wait_for_frames();
auto depthFrame = frames.get_depth_frame();
auto colorFrame = frames.get_color_frame();    
pointcloud pc = pointcloud();
pc.map_to(colorFrame);
points points= pc.calculate(depthFrame);

// Save to pointcloud file.
points.export_to_ply("1.ply", colorFrame);

However, the PointCloud.Calculate method is obsolete ("This method is obsolete. Use Process method instead") and the export_to_ply does not seem to be included in the C# wrapper.

What exactly is meant by "Use Process method instead"?
How can I create the above code in C#?

[ogoshen]

The obsolete warning in this case is harmless, just means you should use the common Process interface method instead.

Sorry about missing PLY export, will be handled in the next PR.

[jacobusp]

@ogoshen The problem is that is not clear what is meant by "Use Process method instead". How would this be implemented in C#? Are there (or could someone provide) code examples of how to use this process method in order to retrieve a pointcloud?

[ogoshen]

Here's a sample for running the PointCloud processing block, getting the Points frame as well as getting the raw point cloud data.

Also, Points.ExportPLY is now merged to development branch.

[jacobusp]

@ogoshen
Thanks for the quick answer 👍 !
I always get a stable release from https://github.com/IntelRealSense/librealsense/releases/latest.
When can I (approximately) expect the changes to be in the latest release?

[RealSenseCustomerSupport]

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@jacobusp The latest stable release v2.20.0 has included the changes. Please have a check. Thanks! https://github.com/IntelRealSense/librealsense/blob/v2.20.0/wrappers/csharp/Intel.RealSense/Frames/Points.cs#L116

[RealSenseCustomerSupport]

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@jacobusp Did you get the chance to have a try with v2.20.0? Any other questions about this ticket? Looking forward to your update. Thanks!

[jacobusp]

I have added the new version to my project and I can confirm the export to ply functionality was added. Thanks for helping me out.

[Lowpassfilter]

How to interprete the vertices converted from the points? For a 640 * 480 depth image, I got 640 * 480 * 3 float numbers, which is reasonable. However, I found that there are 40k non-zero values at position i * 3, 70k non-zero values at positions i * 3+2 and only one 24 value at i * 3+1, where i in range 0 to 640*480 -1. This realy confused me. Can anyone explain?