Blocky depth data

Technical Support & Q&A
1

I am trying to get Depth images and Color images aligned and synced although when they are converted to Point clouds later on the depth data looks as if it is upscaled to my color images. they look like squares with dots in the middle.

my color images are 1280 x 720 at 30fps and my depth images are also 1280x 720.

In this code below am I correctly aligning and syncing my color images? any advice on why they would look blocky?

I am using the femto mega I.

pipeline = Pipeline()
config = Config()
device =pipeline.get_device()
device_info = device.get_device_info()
device_pid = device_info.get_pid()
has_color_sensor = False


depth_profile_list =pipeline.get_stream_profile_list(OBSensorType.DEPTH_SENSOR)
if depth_profile_list is not None:
    depth_profile =depth_profile_list.get_default_video_stream_profile()
    config.enable_stream(depth_profile)


profile_list =pipeline.get_stream_profile_list(OBSensorType.COLOR_SENSOR)
if profile_list is not None:
    color_profile =profile_list.get_default_video_stream_profile()
    config.enable_stream(color_profile)
    if device_pid == 0x066B:
        # Femto Mega does not support hardware D2C, and it is changed to software D2C
        config.set_align_mode(OBAlignMode.SW_MODE)
    else:
        config.set_align_mode(OBAlignMode.HW_MODE)
    has_color_sensor = True

pipeline.enable_frame_sync()



pipeline.start(self.config)