{"action":"created","issue":{"url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/2499","repository_url":"https://api.github.com/repos/IntelRealSense/librealsense","labels_url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/2499/labels{/name}","comments_url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/2499/comments","events_url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/2499/events","html_url":"https://github.com/IntelRealSense/librealsense/issues/2499","id":368330787,"node_id":"MDU6SXNzdWUzNjgzMzA3ODc=","number":2499,"title":"pyrealsense2: 'pc_calculate' only returns part of point cloud","user":{"login":"LLDavid","id":31833968,"node_id":"MDQ6VXNlcjMxODMzOTY4","avatar_url":"https://avatars1.githubusercontent.com/u/31833968?v=4","gravatar_id":"","url":"https://api.github.com/users/LLDavid","html_url":"https://github.com/LLDavid","followers_url":"https://api.github.com/users/LLDavid/followers","following_url":"https://api.github.com/users/LLDavid/following{/other_user}","gists_url":"https://api.github.com/users/LLDavid/gists{/gist_id}","starred_url":"https://api.github.com/users/LLDavid/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/LLDavid/subscriptions","organizations_url":"https://api.github.com/users/LLDavid/orgs","repos_url":"https://api.github.com/users/LLDavid/repos","events_url":"https://api.github.com/users/LLDavid/events{/privacy}","received_events_url":"https://api.github.com/users/LLDavid/received_events","type":"User","site_admin":false},"labels":[{"id":737783632,"node_id":"MDU6TGFiZWw3Mzc3ODM2MzI=","url":"https://api.github.com/repos/IntelRealSense/librealsense/labels/python","name":"python","color":"fbca04","default":false}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":5,"created_at":"2018-10-09T18:06:21Z","updated_at":"2018-10-11T19:33:31Z","closed_at":null,"author_association":"NONE","body":"\r\n| Required Info                         |                                                                |\r\n|---------------------------------|------------------------------------------- |\r\n| Camera Model                       | D415  | \r\n| Firmware Version                   | 05.10.03.00 | \r\n| Operating System & Version |  Win10  | \r\n| Kernel Version (Linux Only)    |            -                           | \r\n| Platform                                 | PC |\r\n| SDK Version                            | -                      | \r\n| Language                            | Python }                          | \r\n| Segment\t\t\t| -                      | \r\n\r\nHi, \r\nI am trying to stream point cloud from D415 using code in the example:\r\n\r\n```\r\n    while True:\r\n        # Wait for the next set of frames from the camera\r\n        frames = pipeline_1.wait_for_frames()\r\n        # Fetch color and depth frames\r\n        depth = frames.get_depth_frame()\r\n        color = frames.get_color_frame()\r\n        if not depth or not color:\r\n            continue\r\n        frame_id=frame_id+1\r\n        # Tell pointcloud object to map to this color frame\r\n        pc.map_to(color)\r\n        # Generate the pointcloud and texture mappings\r\n        points = pc.calculate(depth)\r\n        vtx = np.asarray(points.get_vertices())\r\n        # Save to .ply\r\n        print(\"Saving to i.ply...\")\r\n        file_path='.\\\\ply\\\\'+str(frame_id)+'.ply'\r\n        points.export_to_ply(file_path, color)\r\n        print(\"Done\")\r\n        # Read PLY\r\n        pcd = read_point_cloud(file_path)\r\n        # Visualize PLY\r\n        draw_geometries([pcd])\r\n```\r\nHowever the output is quite weird with  point cloud of only a few rays (I put the cam toward my face, and I tested with the alignment example, and the cam is fine). It seems like lots of point cloud are missing:\r\n![image](https://user-images.githubusercontent.com/31833968/46688324-06f02080-cbcb-11e8-92f9-9d7d23fc4e67.png)\r\nI already posted the question in the forum [(link)](https://communities.intel.com/thread/129663).\r\nDoes any one know how to deal with it? Thanks in advance\r\n        \r\n  "},"comment":{"url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/comments/429089438","html_url":"https://github.com/IntelRealSense/librealsense/issues/2499#issuecomment-429089438","issue_url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/2499","id":429089438,"node_id":"MDEyOklzc3VlQ29tbWVudDQyOTA4OTQzOA==","user":{"login":"LLDavid","id":31833968,"node_id":"MDQ6VXNlcjMxODMzOTY4","avatar_url":"https://avatars1.githubusercontent.com/u/31833968?v=4","gravatar_id":"","url":"https://api.github.com/users/LLDavid","html_url":"https://github.com/LLDavid","followers_url":"https://api.github.com/users/LLDavid/followers","following_url":"https://api.github.com/users/LLDavid/following{/other_user}","gists_url":"https://api.github.com/users/LLDavid/gists{/gist_id}","starred_url":"https://api.github.com/users/LLDavid/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/LLDavid/subscriptions","organizations_url":"https://api.github.com/users/LLDavid/orgs","repos_url":"https://api.github.com/users/LLDavid/repos","events_url":"https://api.github.com/users/LLDavid/events{/privacy}","received_events_url":"https://api.github.com/users/LLDavid/received_events","type":"User","site_admin":false},"created_at":"2018-10-11T19:33:31Z","updated_at":"2018-10-11T19:33:31Z","author_association":"NONE","body":"> @LLDavid The most straightforward way to do it is to set the depth value of a pixel to zero, if it exceeds a threshold. Unfortunately I am not familiar with the Python API, so I cannot give you any insights on this. But there is a more elegant way of achieving your goal, set the depth threshold in the depth sensor. Once again, not familiar with the API, so no much I can do except [this](https://github.com/IntelRealSense/librealsense/issues/2199#issuecomment-410683830).\r\n\r\n@vladsterz The reason I stick to python is beacause I want to apply some  DNN code to the point cloud. But as you said, the C++ API seems have more flexibility. I will probably do the intrinsic calibration my own code if there is no straight solution to this. Thanks for the comment!"}}
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