Functions | Variables
t265_stereo Namespace Reference

Functions

def callback (frame)
 
def camera_matrix (intrinsics)
 
def fisheye_distortion (intrinsics)
 
def get_extrinsics (src, dst)
 

Variables

dictionary center_undistorted
 
 cfg = rs.config()
 
 color_image = cv2.cvtColor(center_undistorted["left"][:,max_disp:], cv2.COLOR_GRAY2RGB)
 
 D_left = fisheye_distortion(intrinsics["left"])
 
 D_right = fisheye_distortion(intrinsics["right"])
 
 disp_color = cv2.applyColorMap(cv2.convertScaleAbs(disp_vis,1), cv2.COLORMAP_JET)
 
int disp_vis = 255
 
float disparity = stereo.compute(center_undistorted["left"], center_undistorted["right"]).astype(np.float32)/16.0
 
dictionary frame_copy
 
dictionary frame_data
 
 frame_mutex = Lock()
 
 height
 
 ind = min_disp
 
dictionary intrinsics
 
 K_left = camera_matrix(intrinsics["left"])
 
 K_right = camera_matrix(intrinsics["right"])
 
 key = cv2.waitKey(1)
 
 lm1
 
 lm2
 
 m1type = cv2.CV_32FC1
 
 max_disp = min_disp+num_disp
 
int min_disp = 0
 
string mode = "stack"
 
int num_disp = 112
 
 P_left
 
 P_right = P_left.copy()
 
 pipe = rs.pipeline()
 
 profiles = pipe.get_active_profile()
 
 Q
 
 R
 
 R_left = np.eye(3)
 
 R_right = R
 
 rm1
 
 rm2
 
 stereo
 
int stereo_cx = (stereo_height_px - 1)/2
 
int stereo_cy = (stereo_height_px - 1)/2
 
int stereo_focal_px = stereo_height_px/2
 
int stereo_fov_rad = 90
 
int stereo_height_px = 300
 
tuple stereo_size = (stereo_width_px, stereo_height_px)
 
 stereo_width_px = stereo_height_px+max_disp
 
dictionary streams
 
 T
 
dictionary undistort_rectify
 
 valid = frame_data["timestamp_ms"]isnotNone
 
 width
 
int window_size = 5
 
string WINDOW_TITLE = 'Realsense'
 

Function Documentation

def t265_stereo.callback (   frame)

Definition at line 91 of file t265_stereo.py.

def t265_stereo.camera_matrix (   intrinsics)

Definition at line 66 of file t265_stereo.py.

def t265_stereo.fisheye_distortion (   intrinsics)

Definition at line 74 of file t265_stereo.py.

def t265_stereo.get_extrinsics (   src,
  dst 
)

Definition at line 57 of file t265_stereo.py.

Variable Documentation

dictionary t265_stereo.center_undistorted
Initial value:
1 = {"left" : cv2.remap(src = frame_copy["left"],
2  map1 = undistort_rectify["left"][0],
3  map2 = undistort_rectify["left"][1],
4  interpolation = cv2.INTER_LINEAR),
5  "right" : cv2.remap(src = frame_copy["right"],
6  map1 = undistort_rectify["right"][0],
7  map2 = undistort_rectify["right"][1],
8  interpolation = cv2.INTER_LINEAR)}

Definition at line 231 of file t265_stereo.py.

t265_stereo.cfg = rs.config()

Definition at line 110 of file t265_stereo.py.

t265_stereo.color_image = cv2.cvtColor(center_undistorted["left"][:,max_disp:], cv2.COLOR_GRAY2RGB)

Definition at line 249 of file t265_stereo.py.

t265_stereo.D_left = fisheye_distortion(intrinsics["left"])

Definition at line 151 of file t265_stereo.py.

t265_stereo.D_right = fisheye_distortion(intrinsics["right"])

Definition at line 153 of file t265_stereo.py.

t265_stereo.disp_color = cv2.applyColorMap(cv2.convertScaleAbs(disp_vis,1), cv2.COLORMAP_JET)

Definition at line 248 of file t265_stereo.py.

int t265_stereo.disp_vis = 255

Definition at line 247 of file t265_stereo.py.

t265_stereo.disparity = stereo.compute(center_undistorted["left"], center_undistorted["right"]).astype(np.float32)/16.0

Definition at line 241 of file t265_stereo.py.

dictionary t265_stereo.frame_copy
Initial value:
1 = {"left" : frame_data["left"].copy(),
2  "right" : frame_data["right"].copy()}
void copy(void *dst, void const *src, size_t size)
Definition: types.cpp:836

Definition at line 226 of file t265_stereo.py.

dictionary t265_stereo.frame_data
Initial value:
1 = {"left" : None,
2  "right" : None,
3  "timestamp_ms" : None
4  }

Definition at line 80 of file t265_stereo.py.

t265_stereo.frame_mutex = Lock()

Definition at line 79 of file t265_stereo.py.

t265_stereo.height

Definition at line 154 of file t265_stereo.py.

t265_stereo.ind = min_disp

Definition at line 254 of file t265_stereo.py.

dictionary t265_stereo.intrinsics
Initial value:
1 = {"left" : streams["left"].get_intrinsics(),
2  "right" : streams["right"].get_intrinsics()}

Definition at line 142 of file t265_stereo.py.

t265_stereo.K_left = camera_matrix(intrinsics["left"])

Definition at line 150 of file t265_stereo.py.

t265_stereo.K_right = camera_matrix(intrinsics["right"])

Definition at line 152 of file t265_stereo.py.

t265_stereo.key = cv2.waitKey(1)

Definition at line 259 of file t265_stereo.py.

t265_stereo.lm1

Definition at line 210 of file t265_stereo.py.

t265_stereo.lm2

Definition at line 210 of file t265_stereo.py.

t265_stereo.m1type = cv2.CV_32FC1

Definition at line 209 of file t265_stereo.py.

t265_stereo.max_disp = min_disp+num_disp

Definition at line 127 of file t265_stereo.py.

int t265_stereo.min_disp = 0

Definition at line 124 of file t265_stereo.py.

t265_stereo.mode = "stack"

Definition at line 215 of file t265_stereo.py.

int t265_stereo.num_disp = 112

Definition at line 126 of file t265_stereo.py.

t265_stereo.P_left
Initial value:
1 = np.array([[stereo_focal_px, 0, stereo_cx, 0],
2  [0, stereo_focal_px, stereo_cy, 0],
3  [0, 0, 1, 0]])

Definition at line 193 of file t265_stereo.py.

t265_stereo.P_right = P_left.copy()

Definition at line 196 of file t265_stereo.py.

t265_stereo.pipe = rs.pipeline()

Definition at line 107 of file t265_stereo.py.

t265_stereo.profiles = pipe.get_active_profile()

Definition at line 139 of file t265_stereo.py.

t265_stereo.Q
Initial value:
1 = np.array([[1, 0, 0, -(stereo_cx - max_disp)],
2  [0, 1, 0, -stereo_cy],
3  [0, 0, 0, stereo_focal_px],
4  [0, 0, -1/T[0], 0]])

Definition at line 201 of file t265_stereo.py.

t265_stereo.R

Definition at line 157 of file t265_stereo.py.

t265_stereo.R_left = np.eye(3)

Definition at line 179 of file t265_stereo.py.

t265_stereo.R_right = R

Definition at line 180 of file t265_stereo.py.

t265_stereo.rm1

Definition at line 211 of file t265_stereo.py.

t265_stereo.rm2

Definition at line 211 of file t265_stereo.py.

t265_stereo.stereo
Initial value:
1 = cv2.StereoSGBM_create(minDisparity = min_disp,
2  numDisparities = num_disp,
3  blockSize = 16,
4  P1 = 8*3*window_size**2,
5  P2 = 32*3*window_size**2,
6  disp12MaxDiff = 1,
7  uniquenessRatio = 10,
8  speckleWindowSize = 100,
9  speckleRange = 32)

Definition at line 128 of file t265_stereo.py.

int t265_stereo.stereo_cx = (stereo_height_px - 1)/2

Definition at line 187 of file t265_stereo.py.

int t265_stereo.stereo_cy = (stereo_height_px - 1)/2

Definition at line 188 of file t265_stereo.py.

int t265_stereo.stereo_focal_px = stereo_height_px/2

Definition at line 175 of file t265_stereo.py.

int t265_stereo.stereo_fov_rad = 90

Definition at line 173 of file t265_stereo.py.

int t265_stereo.stereo_height_px = 300

Definition at line 174 of file t265_stereo.py.

tuple t265_stereo.stereo_size = (stereo_width_px, stereo_height_px)

Definition at line 186 of file t265_stereo.py.

t265_stereo.stereo_width_px = stereo_height_px+max_disp

Definition at line 185 of file t265_stereo.py.

dictionary t265_stereo.streams
Initial value:
1 = {"left" : profiles.get_stream(rs.stream.fisheye, 1).as_video_stream_profile(),
2  "right" : profiles.get_stream(rs.stream.fisheye, 2).as_video_stream_profile()}

Definition at line 140 of file t265_stereo.py.

t265_stereo.T

Definition at line 157 of file t265_stereo.py.

dictionary t265_stereo.undistort_rectify
Initial value:
1 = {"left" : (lm1, lm2),
2  "right" : (rm1, rm2)}

Definition at line 212 of file t265_stereo.py.

t265_stereo.valid = frame_data["timestamp_ms"]isnotNone

Definition at line 219 of file t265_stereo.py.

t265_stereo.width

Definition at line 154 of file t265_stereo.py.

int t265_stereo.window_size = 5

Definition at line 123 of file t265_stereo.py.

string t265_stereo.WINDOW_TITLE = 'Realsense'

Definition at line 117 of file t265_stereo.py.



librealsense2
Author(s): Sergey Dorodnicov , Doron Hirshberg , Mark Horn , Reagan Lopez , Itay Carpis
autogenerated on Sat Apr 3 2021 02:51:30