align-depth-color

Overview

The depth sensor and the RGB sensor are positioned differently on the camera, resulting in a slight displacement between the images captured by each sensor. To align the depth and RGB images, we need to enable the "Registration" setting.

Expect Output

• Registration disabled

  
• Registration enabled

  

Prerequisite

• OpenCV Viewer

Tutorial

Modify from opencv_viewer. After getting color and depth frame, we use opencv addWeighted function to overlap these two images.

cv::addWeighted(colorMat, 0.8, depthMat, 0.2, 0.0, overlappingMat);

To turn on/off registraion, Use setImageRegistrationMode in SDK and give proper parameter.

// Enable
device.setImageRegistrationMode(openni::IMAGE_REGISTRATION_DEPTH_TO_COLOR);

//Disable
device.setImageRegistrationMode(openni::IMAGE_REGISTRATION_OFF);

Use variable enableRegistration to determinate whether to enable registration. When press 'a' on keyboard, turn on/off registration.

input = cv::waitKey(1);
if (input == 'a')
{
    enableRegistration = !enableRegistration;
    device.setImageRegistrationMode(enableRegistration ? openni::IMAGE_REGISTRATION_DEPTH_TO_COLOR openni::IMAGE_REGISTRATION_OFF);
    std::cout << "Image Registration: " << (enableRegistration ? "Enable" : "Disable") << std::endl;
}

Full code

align-depth-color.cpp