[omar_bo55]

Hi @jieying, sorry for the late answer.

I’m on a vacation as for now, with little to no access to my code.
I’ll be sure to send a snippet once I’m back, by next week.

Best regards,

Omar

[omar_bo55]

@JieYing, Sofa doesn’t have a component that does exactly that (yet?)

Concerning the intrinsics parameters, they are camera specific, so I guess they’ll be the same as the realsense (in your case SR300)

Extrinsics can be handled with Sofa’s Transform engine. It binds to a mechanical object and applies scaling/rotation/translation on it on demand.
Or you can also just map them in a rotation/translation matrix and figure out your point cloud’s new position when reprojecting from 2D to 3D.

I’ll make sure to share a code snippet later if you want.
Hope this helps

Best regards
Omar

[omar_bo55]

Hi

I currently work on interfacing realsense cameras with SOFA simulation, especially in the context of liver deformation tracking.

I’m not sure to understand your question. Do you want to reconstruct a point cloud from RGBD frames offline inside Sofa ?
That should be fairly easy to do. Mainly, one should save camera’s intrinsics and RGB and Depth streams in a video file. Then depending on the camera model you’re using, 2D-3D reprojection implementations tend to differ slightly.

Working exclusively on Intel’s Realsense cameras, I can only vouch for their C++ framework, which I find top notch. I can’t speak for other RGBD cameras manufacturers.

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