How to align color and depth frames using C API?

[junyoung-lee-1201]

Hello, I'm trying to read color and depth frames and align them to the color frame, but using C bindings. All I could find related to aligning was rs2_create_align() function but I couldn't find more.

If anyone could explain how to implement a very simple align example like the C++ one I would be very grateful.

Also, I would like to know how to do this with Rust as well, as our project is using Rust

Thank you

[MartyG-RealSense]

Hi @junyoung-lee-1201 There is a C-language example of alignment with rs2_create_align() at the link below under the heading Using C API.

https://dev.intelrealsense.com/docs/projection-in-intel-realsense-sdk-20#frame-alignment

There is lttle information available regarding using RealSense with Rust, though the RealSense Rust wrapper realsense_sys apparently also uses the C rs2_create_align instruction to perform alignment.

https://docs.rs/realsense-sys/latest/realsense_sys/

https://docs.rs/realsense-sys/latest/realsense_sys/fn.rs2_create_align.html

[junyoung-lee-1201]

I ended up downgrading realsense-rust crate to 0.5.1. Here's how to align a composite frame.

let frames = pipeline.wait(None).unwrap().unwrap();
let mut align = Align::create(StreamKind::Color).unwrap();
let frames = align
    .process(frames)
    .unwrap()
    .try_extend_to::<Composite>()
    .unwrap()
    .unwrap();

// These two frames should be aligned.
let color_frame = frames.color_frame().unwrap().unwrap();
let depth_frame = frames.depth_frame().unwrap().unwrap();

[MartyG-RealSense]

It's great to hear that you achieved a solution. Thanks so much for sharing your code!