align_filter NONE Type

[GDelCorso]

When initializing a modified Quickstart Python script to generate both RGB and DEPTH streams and applying the align filter to the depth field, align_filter.process(frames) returns None. All similar examples involving align_filter.process lead to the same error.

[orbbec femto bolt]

` import cv2 import numpy as np import time

from pyorbbecsdk import * from utils import frame_to_bgr_image

ESC_KEY = 27 MIN_DEPTH = 20 # 20mm MAX_DEPTH = 10000 # 10000mm

def main(): pipeline = Pipeline() config = Config()

# Enable color and depth streams
color_profiles = pipeline.get_stream_profile_list(OBSensorType.COLOR_SENSOR)
color_profile = color_profiles.get_default_video_stream_profile()
config.enable_stream(color_profile)

depth_profiles = pipeline.get_stream_profile_list(OBSensorType.DEPTH_SENSOR)
depth_profile = depth_profiles.get_default_video_stream_profile()
config.enable_stream(depth_profile)

pipeline.enable_frame_sync()  # ensures frames are synchronized
pipeline.start(config)
print("Pipeline started successfully. Press 'q' or ESC to exit.")

#  Create alignment filter (align depth to color)
align_filter = AlignFilter(align_to_stream=OBStreamType.COLOR_STREAM)

# Set window size
window_width = 1280
window_height = 720
cv2.namedWindow("QuickStart Viewer", cv2.WINDOW_NORMAL)
cv2.resizeWindow("QuickStart Viewer", window_width, window_height)

while True:
    try:
        frames = pipeline.wait_for_frames(100)
        if frames is None:
            continue

        # Get color frame
        color_frame = frames.get_color_frame()
        if color_frame is None:
            continue
        color_image = frame_to_bgr_image(color_frame)

        # Get depth frame
        depth_frame = frames.get_depth_frame()
        if depth_frame is None:
            continue
        if depth_frame.get_format() != OBFormat.Y16:
            print("Depth format is not Y16")
            continue
        
        aligned_depth = align_filter.process(frames)
        
        print(aligned_depth)
        
        if aligned_depth is None:
            continue

        # Process depth data
        width = depth_frame.get_width()
        height = depth_frame.get_height()
        scale = depth_frame.get_depth_scale()
        
        depth_data = np.frombuffer(depth_frame.get_data(), dtype=np.uint16).reshape((height, width))
        depth_data = depth_data.astype(np.float32) * scale
        depth_data = np.where((depth_data > MIN_DEPTH) & (depth_data < MAX_DEPTH), depth_data, 0).astype(np.uint16)

        # Create depth visualization
        depth_image = cv2.normalize(depth_data, None, 0, 255, cv2.NORM_MINMAX, dtype=cv2.CV_8U)
        depth_image = cv2.applyColorMap(depth_image, cv2.COLORMAP_JET)

        # Resize and combine images
        color_image_resized = cv2.resize(color_image, (window_width // 2, window_height))
        depth_image_resized = cv2.resize(depth_image, (window_width // 2, window_height))
        combined_image = np.hstack((color_image_resized, depth_image_resized))
        
        cv2.imshow("QuickStart Viewer", combined_image)

        if cv2.waitKey(1) in [ord('q'), ESC_KEY]:
            break
    except KeyboardInterrupt:
        break

cv2.destroyAllWindows()
pipeline.stop()
print("Pipeline stopped and all windows closed.")

if name == "main": main() `

[gongye2]

@GDelCorso Hi, Thanks for reporting this! The issue occurs because depth_frame is a Python object representing the frame, not the raw pixel data itself.To display the aligned depth frame correctly, you need to extract the raw data buffer from the frame object returned by the align filter, then convert it into a NumPy array for visualization.

Below is an example of how to handle this correctly. ` aligned_raw = align_filter.process(frames) if aligned_raw is None: continue

aligned_set = aligned_raw.as_frame_set() if aligned_set is None: continue

aligned_depth = aligned_set.get_depth_frame() if aligned_depth is None: continue

aligned_depth_width = aligned_depth.get_width() aligned_depth_height = aligned_depth.get_height() aligned_depth_scale = aligned_depth.get_depth_scale()

aligned_depth_data = np.frombuffer(aligned_depth.get_data(), dtype=np.uint16).reshape((aligned_depth_height, aligned_depth_width)) aligned_depth_data = aligned_depth_data.astype(np.float32) * aligned_depth_scale aligned_depth_data = np.where((aligned_depth_data > MIN_DEPTH) & (aligned_depth_data < MAX_DEPTH), aligned_depth_data, 0).astype(np.uint16)

aligned_depth_image = cv2.normalize(aligned_depth_data, None, 0, 255, cv2.NORM_MINMAX, dtype=cv2.CV_8U) aligned_depth_image = cv2.applyColorMap(aligned_depth_image, cv2.COLORMAP_JET) cv2.imshow("Aligned Frame", aligned_depth_image) `