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return new Promise(function(resolve, reject) {
try {
const dec_filter = new rs2.DecimationFilter();
const pc = new rs2.PointCloud();
const pipeline = new rs2.Pipeline();
const config = new rs2.Config();
let pointsFrame;
const alignToDepth = new rs2.Align(rs2.stream.STREAM_DEPTH);
const alignToColor = new rs2.Align(rs2.stream.STREAM_COLOR);
dec_filter.setOption(rs2.option.option_filter_magnitude, 4);
config.disableAllStreams();
config.enableStream(rs2.stream.STREAM_COLOR, -1, 1280, 720, rs2.format.FORMAT_BGR8, 30);
config.enableStream(rs2.stream.STREAM_DEPTH, -1, 848, 480, rs2.format.FORMAT_Z16, 30);
//Start streaming
const pipelineProfile = pipeline.start(config);
//Getting the depth sensor's depth scale (see rs-align example for explanation)
const depthSensor = pipelineProfile.getDevice().first;
depthSensor.setOption(rs2.option.option_depth_units, 0.0001);
let frameset; // Frameset();
for(let i=0; i < 50; i++) {
frameset = pipeline.waitForFrames();
// Align all frames to depth viewport
frameset = alignToDepth.process(frameset);
}
// Get aligned frames
let depthFrame = frameset.depthFrame;
let colorFrame = frameset.colorFrame;
var frame = dec_filter.process(depthFrame);
var depthFrameFiltered = new rs2.DepthFrame(frame.cxxFrame);
pc.mapTo(colorFrame);
pointsFrame = pc.calculate(depthFrameFiltered);
pointsFrame.exportToPly('D:/outputjs.ply', colorFrame);
pipeline.stop();
pipeline.destroy();
rs2.cleanup();
resolve(true);
}
catch(_error) {
reject(_error);
}
});