Realsense d435 depth 활용 이미지에서 카메라로 부터 3차원 좌표 deproject 2D pixel to 3D points

https://github.com/IntelRealSense/librealsense/issues/1413

deprojection pixels to 3d point · Issue #1413 · IntelRealSense/librealsense

depth_sensor = profile.get_device().first_depth_sensor()
depth_scale = depth_sensor.get_depth_scale()
depth_frame = frames.get_depth_frame()
color_frame = frames.get_color_frame()
depth_intrin = depth_frame.profile.as_video_stream_profile().intrinsics
color_intrin = color_frame.profile.as_video_stream_profile().intrinsics
depth_to_color_extrin = depth_frame.profile.get_extrinsics_to(color_frame.profile)

# 우리가 찾고 싶은 2d pixel
depth_pixel = [100, 100]
depth= depth_frame.get_distance(100,100)

# 그에 대응 하는 3d points 값 
depth_point = rs.rs2_deproject_pixel_to_point(depth_intrin, depth_pixel, depth)

https://chowdera.com/2022/01/202201111240108303.html

Realsense d435i obtains the three-dimensional coordinates of a pixel (two methods: calculating depth and point cloud)