How to get aligned depth? about hololens2forcv HOT 7 OPEN

Hello, apologies but I'm not sure I understand well what "dense aligned depth image" means.
Are any of the python scripts provided here useful for you?

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@fbogo Thank you for your reply, I am sorry that I did not express it very clearly. Actually what I want to get is the RGB-Depth or Gray-Depth image pair, which are in the same resolution and are one-to-one in pixels. Thus, given a specific pixel coordinate (u,v), I can get the corresponding color value [RGB(u,v)] and depth value [Depth(u,v)]. If there is no interface to complete this, Can I get the pixel coordinate mapping relationship between RGB-Depth or Gray-Depth, thus, given a specific pixel coordinate (u,v) in RGB or Gray image, I can got the pixel coordinate (u',v') of the corresponding pixel in Depth image.

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@fbogo I'm really sorry to bother you again. Please reply to my questions when you are free. Thank you very much.

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Would e.g. the python code here:
https://github.com/microsoft/HoloLens2ForCV/blob/main/Samples/StreamRecorder/StreamRecorderConverter/save_pclouds.py
(from line 132 on) help you for your task?
It uses a virtual pinhole camera model.

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Reaching out on this thread since I believe I have a similar issue. I have a (x,y) coordinate in PV, and I am looking for the corresponding coordinate in the depth image. Is there a PV-to-depth transform that could be directly applied to obtain this correspondence. A look up table kind of framework would be very useful. The pinhole projection does indeed provide aligned maps, but in a distorted space.

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@ishanic @mianbao96 Did you manage to solve the problem?

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Also focus on this requirement

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