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:

 = {"left" : cv2.remap(src = frame_copy["left"],
                                           map1 = undistort_rectify["left"][0],
                                           map2 = undistort_rectify["left"][1],
                                           interpolation = cv2.INTER_LINEAR),
                                   "right" : cv2.remap(src = frame_copy["right"],
                                           map1 = undistort_rectify["right"][0],
                                           map2 = undistort_rectify["right"][1],
                                           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()}

librealsense::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:

 = {"left"  : None,
               "right" : None,
               "timestamp_ms" : None
               }

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:

 = np.array([[stereo_focal_px, 0, stereo_cx, 0],
                        [0, stereo_focal_px, stereo_cy, 0],
                        [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:

 = np.array([[1, 0,       0, -(stereo_cx - max_disp)],
                   [0, 1,       0, -stereo_cy],
                   [0, 0,       0, stereo_focal_px],
                   [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:

 = cv2.StereoSGBM_create(minDisparity = min_disp,
                                    numDisparities = num_disp,
                                    blockSize = 16,
                                    P1 = 8*3*window_size**2,
                                    P2 = 32*3*window_size**2,
                                    disp12MaxDiff = 1,
                                    uniquenessRatio = 10,
                                    speckleWindowSize = 100,
                                    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.

Functions

Variables

Function Documentation

Variable Documentation