TOF camera has problem to align IR image

FengkaiTian

Hello, I would like to align RGB, IR, and Depth Data together.

However, luxonis/depthai-coreblob/main/examples/python/RVC2/ToF/tof_align.py only shows Depth -> align -> RGB.

What about the IR? The IR was originally aligned with Depth, but now, I tried a different code, but still can't figure out how to make IR and RGB align with each other.

Thanks for helping.

OskarSonc

Hi @FengkaiTian - IR and depth from the ToF node are already aligned in the ToF sensor space; the example only shows aligning depth → RGB. To keep all three in the same space, you need to pass the IR through an ImageAlign node configured identically to the one you use for depth...
Thanks,
Oskar