How to get XYX and RGB data from Intel Realsense D400

This tutorial shows simple method for fetching real-world cordinates using intel RealSense SDK 2.0.

Prerequisites

We are not pcl library, But the one shipped with intel RealSense SDK 2.0

intel RealSense SDK 2.0
RealSense Camera D400

Explaination

Simply fetched two steams without any extra configurations, used methods from PointCloud example

auto color = frames.get_color_frame();
auto depth = frames.get_depth_frame();
points = pc.calculate(depth);
auto vertices = points.get_vertices();
auto tex_coords = points.get_texture_coordinates();

get_texcolor() is a method that can conver u,v values to RGB values and return tuple

current_color = get_texcolor(color, tex_coords[i]);

Simply saving these values in .txt file as X Y Z R G B format e.g.

-0.315017 -0.290297 0.7524 61 60 60
-0.313815 -0.290297 0.7524 61 60 60
-0.312404 -0.290104 0.7519 61 60 62
-0.311203 -0.290104 0.7519 61 60 62
-0.309753 -0.289873 0.7513 61 60 62

Acknowledgments

• Yonatan-Sade