I'd like to have the confirmation that when aligning frames, i.e:
frames = pipeline.wait_for_frames();
frames = rs2::align(RS2_STREAM_COLOR).process(frames);
then resulting individual frame intrinsics are also aligned,
auto profile = frame.get_profile();
auto stream_profile = profile.as<rs2::video_stream_profile>();
This question because in my test context, I'm trying to convert vertices calculated from the depth frame using a deprojection:
rs2_deproject_pixel_to_point(vertex, &intrinsics, pixel, depth);
Then to convert the result in another space defined by three ArUco markers (the markers give origin, x, y and z = x cross y.
But the result is not as expected: the floor on which the markers are placed on does not appear as a horizontal plane. Things a slightly rotated and shifted.
Do you have any indication about that? Is it effectively due to the align/intrinsics? Can that be due to ArUco accuracy? Or am I doing wrong in my approach?
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