(videoRealSense): align pointcloud on RGB frame for AR.
Description
Currently if we display the realsense pointcloud on top of the RGB frame for AR, there is a misalignment between them.
The easiest solution could to use ::rs2::algin
process of librealsense.
It seems that the align function was buggy in our version of librealsense (2.18.0) so we need to update to the latest (2.23.0).
Example of misalignment
Proposal
- Update conan-librealsense to latest version 2.23.0
- Add an AR mode in ExRealSense, display the pointcloud on top of the Color Frame.
- Call
::rs2::align
in::videoRealSense::SScan
to align all frames in the coordinate of the chosen one.