Extracting 3-D world coordinae for all the pixels using D435

[kyrs]

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Required Info
Camera Model	D400
Firmware Version	5.09.02
Operating System & Version	Win 10
Platform	PC
SDK Version	2.17.1
Language	python
Segment	Robot

Issue Description

Hey,
I am trying to extract the 3d world coordinates for each of the pixel captured by the camera.
Currently, I am doing so by looping over each of the pixel value and saving the corresponding world coordinate.

                                row,col = depth_image.shape
				zthImage = np.zeros((row,col,3))
				for i in range(row):
					for j in range(col):
						depth = aligned_depth_frame.get_distance(i,j)
						print(depth)
						zthImage[i,j] = rs.rs2_deproject_pixel_to_point(
		                                depth_intrin, [i,j], depth)
						print(i,j)
				print(zthImage)		
				depthOfImage.append(zthImage)		

It works but drastically impact the frame processing rate of the camera.
Is there any way of getting 3-D coordinates for all the pixel values without affecting the frame rate.Something similar to get_data function in aligned_depth_frame.get_data() ??

[MartyG-RealSense]

I wonder if Intel's Python tutorial on converting RGBD data from a bag file to a 3D point cloud with XYZ coordinates may be a helpful reference for you.

https://github.com/dorodnic/binder_test/blob/master/pointcloud.ipynb

[RealSenseCustomerSupport]

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Hi kyrs,

As MartyG-RealSense suggested, not sure did it help? Any update?

Thanks!

[RealSenseCustomerSupport]

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Hi kyrs,

Do you have any update on this one? Still need help?

Thanks!

[kyrs]

@RealSenseCustomerSupport I am still experimenting it out, will update it in couple of days.

[Resays]

Here is an example to get RGB data from point how to get XYZ RGB data from RealSense

[RealSenseCustomerSupport]

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@kyrs Any good news now? Looking forward to your update. Thanks!