https://b.hatena.ne.jp/entry/s/github.com/realsenseai/librealsense/wiki/API-How-To https://b.hatena.ne.jp/jusuke/20180420#bookmark-362621992 “ auto depth_stream = selection.get_stream(RS2_STREAM_DEPTH); auto color_stream = selection.get_stream(RS2_STREAM_COLOR); rs2_extrinsics e = depth_stream.get_extrinsics_to(color_stream); // Apply extrinsics to the origin float origin[3] { 0.f, 0.f, 0.f }; float target[3]; rs2_transform_point_to_po 2018-04-19T16:31:16Z