librealsense back projection 代码流程

1. /home/dell/codebase/librealsense/2.40.0/librealsense/examples/pointcloud/rs-pointcloud.cpp

https://github.com/IntelRealSense/librealsense/blob/master/examples/pointcloud/rs-pointcloud.cpp 

2. src/proc/pointcloud.cpp

const float3 * pointcloud::depth_to_points(rs2::points output, const rs2_intrinsics &depth_intrinsics, const rs2::depth_frame& depth_frame, float depth_scale)

 

2. ./include/librealsense2/rsutil.h

Line:83: The back-projection function, dealing with camera matrix K and distortions.

static void rs2_deproject_pixel_to_point(float point[3], const struct rs2_intrinsics * intrin, const float pixel[2], float depth

 

文档：

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