How can I get an object's location coordinates with simple python code from D435i?

[Tranthanhbao198]

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Required Info
Camera Model	{ D435i }
Firmware Version	(2.54.2.5684)
Operating System & Version	Win 11 and mac os 14 Pro M1
Kernel Version (Linux Only)	NA
Platform	PC
SDK Version
Language	python}
Segment	{Robot arm }

Issue Description

Hello,
Currently I have my own project using D435i to observe objects, then get information about the object's location coordinates, then will use python code to take those location send to the robot arm's moving command to pick the object, i will do it with 2 levels. 1 is i will show all of the objects on the table, then get all of the object's location coordinates, 2: I will place the objects on the table one by one and the camera will observe and get the coordinates of the locations of those objects one by one. Please help me. thank you so much

[MartyG-RealSense]

Hi @Tranthanhbao198 If your project needs to be implemented in Python and you will not be using ROS then I would recommend getting the pose (position and rotation) of the observed objects using an OpenCV solvePNP algorithm. Links regarding doing so can be found at #10233 (comment)

[Tranthanhbao198]

hi @MartyG-RealSense , thank you for your reply, but I didn't quite find what i was looking for there. can u give me more details. thank you

[MartyG-RealSense]

Do you need further information about solvePNP, please? If you do then the official OpenCV documentation has more here:

https://docs.opencv.org/4.x/d5/d1f/calib3d_solvePnP.html

[MartyG-RealSense]

Hi @Tranthanhbao198 Do you require further assistance with this case, please? Thanks!