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Removing Background from point cloud with D435


1 comment

  • MartyG

    Hi Jomanaashraf8  Conversion of a numpy array back to the SDK rs2::frame format is something that has been attempted in the past by RealSense Python users but as far as I am aware it remains an unsolved problem.


    It is not recommendable to use align_to (the alignment method) and pc.calculate / pc.map_to in the same script, as map_to is mapping depth and RGB together and so you are aligning twice, which can lead to inaccuracy in the aligned image.


    You could instead only use the pc.calculate / pc.map_to method of alignment and apply a Threshold filter to remove the background by setting a maximum distance for the depth values that are permitted to be rendered on the image.

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