4 import pyrealdds
as dds
5 from rspy
import log, test
8 device_info = dds.message.device_info.from_json( {
9 "name":
"Intel RealSense D405",
10 "serial":
"123622270732",
11 "product-line":
"D400",
12 "topic-root":
"realdds/D405/123622270732"
18 Build a D405 device server for use in DDS
27 d405 = dds.device_server( participant, device_info.topic_root )
29 d405.init( [ir1, ir2, color, depth], [], extrinsics )
34 stream = dds.ir_stream_server(
"Infrared",
"Stereo Module" )
42 dds.video_stream_profile( 30, dds.video_encoding.uyvy, 1280, 720 ),
43 dds.video_stream_profile( 15, dds.video_encoding.uyvy, 1280, 720 ),
44 dds.video_stream_profile( 5, dds.video_encoding.uyvy, 1280, 720 ),
45 dds.video_stream_profile( 90, dds.video_encoding.uyvy, 848, 480 ),
46 dds.video_stream_profile( 60, dds.video_encoding.uyvy, 848, 480 ),
47 dds.video_stream_profile( 30, dds.video_encoding.uyvy, 848, 480 ),
48 dds.video_stream_profile( 15, dds.video_encoding.uyvy, 848, 480 ),
49 dds.video_stream_profile( 5, dds.video_encoding.uyvy, 848, 480 ),
50 dds.video_stream_profile( 90, dds.video_encoding.uyvy, 640, 480 ),
51 dds.video_stream_profile( 60, dds.video_encoding.uyvy, 640, 480 ),
52 dds.video_stream_profile( 30, dds.video_encoding.uyvy, 640, 480 ),
53 dds.video_stream_profile( 15, dds.video_encoding.uyvy, 640, 480 ),
54 dds.video_stream_profile( 5, dds.video_encoding.uyvy, 640, 480 ),
55 dds.video_stream_profile( 90, dds.video_encoding.uyvy, 640, 360 ),
56 dds.video_stream_profile( 60, dds.video_encoding.uyvy, 640, 360 ),
57 dds.video_stream_profile( 30, dds.video_encoding.uyvy, 640, 360 ),
58 dds.video_stream_profile( 15, dds.video_encoding.uyvy, 640, 360 ),
59 dds.video_stream_profile( 5, dds.video_encoding.uyvy, 640, 360 ),
60 dds.video_stream_profile( 90, dds.video_encoding.uyvy, 480, 270 ),
61 dds.video_stream_profile( 60, dds.video_encoding.uyvy, 480, 270 ),
62 dds.video_stream_profile( 30, dds.video_encoding.uyvy, 480, 270 ),
63 dds.video_stream_profile( 15, dds.video_encoding.uyvy, 480, 270 ),
64 dds.video_stream_profile( 5, dds.video_encoding.uyvy, 480, 270 ),
65 dds.video_stream_profile( 90, dds.video_encoding.uyvy, 424, 240 ),
66 dds.video_stream_profile( 60, dds.video_encoding.uyvy, 424, 240 ),
67 dds.video_stream_profile( 30, dds.video_encoding.uyvy, 424, 240 ),
68 dds.video_stream_profile( 15, dds.video_encoding.uyvy, 424, 240 ),
69 dds.video_stream_profile( 5, dds.video_encoding.uyvy, 424, 240 ),
70 dds.video_stream_profile( 5, dds.video_encoding.uyvy, 256, 144 )
76 dds.video_stream_profile( 30, dds.video_encoding.z16, 1280, 720 ),
77 dds.video_stream_profile( 15, dds.video_encoding.z16, 1280, 720 ),
78 dds.video_stream_profile( 5, dds.video_encoding.z16, 1280, 720 ),
79 dds.video_stream_profile( 90, dds.video_encoding.z16, 848, 480 ),
80 dds.video_stream_profile( 60, dds.video_encoding.z16, 848, 480 ),
81 dds.video_stream_profile( 30, dds.video_encoding.z16, 848, 480 ),
82 dds.video_stream_profile( 15, dds.video_encoding.z16, 848, 480 ),
83 dds.video_stream_profile( 5, dds.video_encoding.z16, 848, 480 ),
84 dds.video_stream_profile( 90, dds.video_encoding.z16, 640, 480 ),
85 dds.video_stream_profile( 60, dds.video_encoding.z16, 640, 480 ),
86 dds.video_stream_profile( 30, dds.video_encoding.z16, 640, 480 ),
87 dds.video_stream_profile( 15, dds.video_encoding.z16, 640, 480 ),
88 dds.video_stream_profile( 5, dds.video_encoding.z16, 640, 480 ),
89 dds.video_stream_profile( 90, dds.video_encoding.z16, 640, 360 ),
90 dds.video_stream_profile( 60, dds.video_encoding.z16, 640, 360 ),
91 dds.video_stream_profile( 30, dds.video_encoding.z16, 640, 360 ),
92 dds.video_stream_profile( 15, dds.video_encoding.z16, 640, 360 ),
93 dds.video_stream_profile( 5, dds.video_encoding.z16, 640, 360 ),
94 dds.video_stream_profile( 90, dds.video_encoding.z16, 480, 270 ),
95 dds.video_stream_profile( 60, dds.video_encoding.z16, 480, 270 ),
96 dds.video_stream_profile( 30, dds.video_encoding.z16, 480, 270 ),
97 dds.video_stream_profile( 15, dds.video_encoding.z16, 480, 270 ),
98 dds.video_stream_profile( 5, dds.video_encoding.z16, 480, 270 ),
99 dds.video_stream_profile( 90, dds.video_encoding.z16, 424, 240 ),
100 dds.video_stream_profile( 60, dds.video_encoding.z16, 424, 240 ),
101 dds.video_stream_profile( 30, dds.video_encoding.z16, 424, 240 ),
102 dds.video_stream_profile( 15, dds.video_encoding.z16, 424, 240 ),
103 dds.video_stream_profile( 5, dds.video_encoding.z16, 424, 240 ),
104 dds.video_stream_profile( 90, dds.video_encoding.z16, 256, 144 )
109 stream = dds.depth_stream_server(
"Depth",
"Stereo Module" )
118 dds.video_stream_profile( 25, dds.video_encoding.y16, 1288, 808 ),
119 dds.video_stream_profile( 15, dds.video_encoding.y16, 1288, 808 ),
120 dds.video_stream_profile( 30, dds.video_encoding.y8, 1280, 720 ),
121 dds.video_stream_profile( 15, dds.video_encoding.y8, 1280, 720 ),
122 dds.video_stream_profile( 5, dds.video_encoding.y8, 1280, 720 ),
123 dds.video_stream_profile( 90, dds.video_encoding.y8, 848, 480 ),
124 dds.video_stream_profile( 60, dds.video_encoding.y8, 848, 480 ),
125 dds.video_stream_profile( 30, dds.video_encoding.y8, 848, 480 ),
126 dds.video_stream_profile( 15, dds.video_encoding.y8, 848, 480 ),
127 dds.video_stream_profile( 5, dds.video_encoding.y8, 848, 480 ),
128 dds.video_stream_profile( 90, dds.video_encoding.y8, 640, 480 ),
129 dds.video_stream_profile( 60, dds.video_encoding.y8, 640, 480 ),
130 dds.video_stream_profile( 30, dds.video_encoding.y8, 640, 480 ),
131 dds.video_stream_profile( 15, dds.video_encoding.y8, 640, 480 ),
132 dds.video_stream_profile( 5, dds.video_encoding.y8, 640, 480 ),
133 dds.video_stream_profile( 90, dds.video_encoding.y8, 640, 360 ),
134 dds.video_stream_profile( 60, dds.video_encoding.y8, 640, 360 ),
135 dds.video_stream_profile( 30, dds.video_encoding.y8, 640, 360 ),
136 dds.video_stream_profile( 15, dds.video_encoding.y8, 640, 360 ),
137 dds.video_stream_profile( 5, dds.video_encoding.y8, 640, 360 ),
138 dds.video_stream_profile( 90, dds.video_encoding.y8, 480, 270 ),
139 dds.video_stream_profile( 60, dds.video_encoding.y8, 480, 270 ),
140 dds.video_stream_profile( 30, dds.video_encoding.y8, 480, 270 ),
141 dds.video_stream_profile( 15, dds.video_encoding.y8, 480, 270 ),
142 dds.video_stream_profile( 5, dds.video_encoding.y8, 480, 270 ),
143 dds.video_stream_profile( 90, dds.video_encoding.y8, 424, 240 ),
144 dds.video_stream_profile( 60, dds.video_encoding.y8, 424, 240 ),
145 dds.video_stream_profile( 30, dds.video_encoding.y8, 424, 240 ),
146 dds.video_stream_profile( 15, dds.video_encoding.y8, 424, 240 ),
147 dds.video_stream_profile( 5, dds.video_encoding.y8, 424, 240 )
152 stream = dds.ir_stream_server(
"Infrared_" +
str(number),
"Stereo Module" )
155 calibration_profile = dds.video_stream_profile( 90, dds.video_encoding.y8, 256, 144 )
156 profiles.append( calibration_profile )
157 stream.init_profiles( profiles, 7 )
165 dds.video_stream_profile( 30, dds.video_encoding.yuyv, 1280, 720 ),
166 dds.video_stream_profile( 15, dds.video_encoding.yuyv, 1280, 720 ),
167 dds.video_stream_profile( 5 , dds.video_encoding.yuyv, 1280, 720 ),
168 dds.video_stream_profile( 90, dds.video_encoding.yuyv, 848, 480 ),
169 dds.video_stream_profile( 60, dds.video_encoding.yuyv, 848, 480 ),
170 dds.video_stream_profile( 30, dds.video_encoding.yuyv, 848, 480 ),
171 dds.video_stream_profile( 15, dds.video_encoding.yuyv, 848, 480 ),
172 dds.video_stream_profile( 5 , dds.video_encoding.yuyv, 848, 480 ),
173 dds.video_stream_profile( 90, dds.video_encoding.yuyv, 640, 480 ),
174 dds.video_stream_profile( 60, dds.video_encoding.yuyv, 640, 480 ),
175 dds.video_stream_profile( 30, dds.video_encoding.yuyv, 640, 480 ),
176 dds.video_stream_profile( 15, dds.video_encoding.yuyv, 640, 480 ),
177 dds.video_stream_profile( 5 , dds.video_encoding.yuyv, 640, 480 ),
178 dds.video_stream_profile( 90, dds.video_encoding.yuyv, 640, 360 ),
179 dds.video_stream_profile( 60, dds.video_encoding.yuyv, 640, 360 ),
180 dds.video_stream_profile( 30, dds.video_encoding.yuyv, 640, 360 ),
181 dds.video_stream_profile( 15, dds.video_encoding.yuyv, 640, 360 ),
182 dds.video_stream_profile( 5 , dds.video_encoding.yuyv, 640, 360 ),
183 dds.video_stream_profile( 90, dds.video_encoding.yuyv, 480, 270 ),
184 dds.video_stream_profile( 60, dds.video_encoding.yuyv, 480, 270 ),
185 dds.video_stream_profile( 30, dds.video_encoding.yuyv, 480, 270 ),
186 dds.video_stream_profile( 15, dds.video_encoding.yuyv, 480, 270 ),
187 dds.video_stream_profile( 5 , dds.video_encoding.yuyv, 480, 270 ),
188 dds.video_stream_profile( 90, dds.video_encoding.yuyv, 424, 240 ),
189 dds.video_stream_profile( 60, dds.video_encoding.yuyv, 424, 240 ),
190 dds.video_stream_profile( 30, dds.video_encoding.yuyv, 424, 240 ),
191 dds.video_stream_profile( 15, dds.video_encoding.yuyv, 424, 240 ),
192 dds.video_stream_profile( 5 , dds.video_encoding.yuyv, 424, 240 )
197 stream = dds.color_stream_server(
"Color",
"Stereo Module" )
207 option = dds.option.from_json( [
"Backlight Compensation", 0, 0, 1, 1, 0,
"Enable / disable backlight compensation"] )
208 options.append( option )
209 option = dds.option.from_json( [
"Brightness", 0, -64, 64, 1, 0,
"UVC image brightness"] )
210 options.append( option )
211 option = dds.option.from_json( [
"Contrast", 50, 0, 100, 1, 50,
"UVC image contrast"] )
212 options.append( option )
213 option = dds.option.from_json( [
"Exposure", 33000, 1, 165000, 1, 33000,
"Depth Exposure (usec)"] )
214 options.append( option )
215 option = dds.option.from_json( [
"Gain", 16, 16, 248, 1, 16,
"UVC image gain"] )
216 options.append( option )
217 option = dds.option.from_json( [
"Gamma", 300, 100, 500, 1, 300,
"UVC image gamma setting"] )
218 options.append( option )
219 option = dds.option.from_json( [
"Hue", 0, -180, 180, 1, 0,
"UVC image hue"] )
220 options.append( option )
221 option = dds.option.from_json( [
"Saturation", 64, 0, 100, 1, 64,
"UVC image saturation setting"] )
222 options.append( option )
223 option = dds.option.from_json( [
"Sharpness", 50, 0, 100, 1, 50,
"UVC image sharpness setting"] )
224 options.append( option )
225 option = dds.option.from_json( [
"White Balance", 4600, 2800, 6500, 10, 4600,
226 "Controls white balance of color image. Setting any value will disable auto white balance"] )
227 options.append( option )
228 option = dds.option.from_json( [
"Enable Auto Exposure", 1, 0, 1, 1, 1,
"Enable Auto Exposure"] )
229 options.append( option )
230 option = dds.option.from_json( [
"Enable Auto White Balance", 1, 0, 1, 1, 1,
"Enable / disable auto-white-balance"] )
231 options.append( option )
232 option = dds.option.from_json( [
"Visual Preset", 0, 0, 5, 1, 0,
"Advanced-Mode Preset"] )
233 options.append( option )
234 option = dds.option.from_json( [
"Power Line Frequency", 3, 0, 3, 1, 3,
"Power Line Frequency"] )
235 options.append( option )
236 option = dds.option.from_json( [
"Error Polling Enabled", 1, 0, 1, 1, 0,
"Enable / disable polling of camera internal errors"] )
237 options.append( option )
238 option = dds.option.from_json( [
"Output Trigger Enabled", 0, 0, 1, 1, 0,
"Generate trigger from the camera to external device once per frame"] )
239 options.append( option )
240 option = dds.option.from_json( [
"Depth Units", 0.0001, 1e-06, 0.01, 1e-06, 0.001,
"Number of meters represented by a single depth unit"] )
241 options.append( option )
242 option = dds.option.from_json( [
"Stereo Baseline", 17.9998, 17.9998, 17.9998, 0, 17.9998,
"Distance in mm between the stereo imagers"] )
243 options.append( option )
244 option = dds.option.from_json( [
"Global Time Enabled", 1, 0, 1, 1, 1,
"Enable/Disable global timestamp"] )
245 options.append( option )
246 option = dds.option.from_json( [
"Hdr Enabled", 0, 0, 1, 1, 0,
"HDR Option"] )
247 options.append( option )
248 option = dds.option.from_json( [
"Sequence Name", 0, 0, 3, 1, 1,
"HDR Option"] )
249 options.append( option )
250 option = dds.option.from_json( [
"Sequence Size", 2, 2, 2, 1, 2,
"HDR Option"] )
251 options.append( option )
252 option = dds.option.from_json( [
"Sequence Id", 0, 0, 2, 1, 0,
"HDR Option"] )
253 options.append( option )
254 option = dds.option.from_json( [
"Auto Exposure Limit", 165000, 1, 165000, 1, 33000,
255 "Exposure limit is in microseconds. If the requested exposure limit is greater than frame time, it will be set to frame time at runtime. Setting will not take effect until next streaming session."] )
256 options.append( option )
257 option = dds.option.from_json( [
"Auto Gain Limit", 248, 16, 248, 1, 16,
258 "Gain limits ranges from 16 to 248. If the requested gain limit is less than 16, it will be set to 16. If the requested gain limit is greater than 248, it will be set to 248. Setting will not take effect until next streaming session."] )
259 options.append( option )
260 option = dds.option.from_json( [
"Auto Exposure Limit Toggle", 0, 0, 1, 1, 0,
"Toggle Auto-Exposure Limit"] )
261 options.append( option )
262 option = dds.option.from_json( [
"Auto Gain Limit Toggle", 0, 0, 1, 1, 0,
"Toggle Auto-Gain Limit"] )
263 options.append( option )
271 intr = dds.video_intrinsics();
274 intr.principal_point_x = 210.73512268066406
275 intr.principal_point_y = 118.6335678100586
276 intr.focal_lenght_x = 215.58554077148438
277 intr.focal_lenght_y = 214.98973083496094
278 intr.distortion_model = 2
279 intr.distortion_coeffs = [-0.05454780161380768,0.056755296885967255,0.0010132350726053119,0.0003381881397217512,-0.01852494664490223]
280 intrinsics.append( intr )
282 intr = dds.video_intrinsics();
285 intr.principal_point_x = 238.57701110839844
286 intr.principal_point_y = 133.4627685546875
287 intr.focal_lenght_x = 242.53375244140625
288 intr.focal_lenght_y = 241.86343383789063
289 intr.distortion_model = 2
290 intr.distortion_coeffs = [-0.05454780161380768,0.056755296885967255,0.0010132350726053119,0.0003381881397217512,-0.01852494664490223]
291 intrinsics.append( intr )
293 intr = dds.video_intrinsics();
296 intr.principal_point_x = 318.1026916503906
297 intr.principal_point_y = 177.95034790039063
298 intr.focal_lenght_x = 323.3783264160156
299 intr.focal_lenght_y = 322.4845886230469
300 intr.distortion_model = 2
301 intr.distortion_coeffs = [-0.05454780161380768,0.056755296885967255,0.0010132350726053119,0.0003381881397217512,-0.01852494664490223]
302 intrinsics.append( intr )
304 intr = dds.video_intrinsics();
307 intr.principal_point_x = 317.4702453613281
308 intr.principal_point_y = 237.2671356201172
309 intr.focal_lenght_x = 431.1711120605469
310 intr.focal_lenght_y = 429.9794616699219
311 intr.distortion_model = 2
312 intr.distortion_coeffs = [-0.05454780161380768,0.056755296885967255,0.0010132350726053119,0.0003381881397217512,-0.01852494664490223]
313 intrinsics.append( intr )
315 intr = dds.video_intrinsics();
318 intr.principal_point_x = 421.4702453613281
319 intr.principal_point_y = 237.2671356201172
320 intr.focal_lenght_x = 431.17108154296875
321 intr.focal_lenght_y = 429.9794616699219
322 intr.distortion_model = 2
323 intr.distortion_coeffs = [-0.05454780161380768,0.056755296885967255,0.0010132350726053119,0.0003381881397217512,-0.01852494664490223]
324 intrinsics.append( intr )
326 intr = dds.video_intrinsics();
329 intr.principal_point_x = 636.2053833007813
330 intr.principal_point_y = 355.90069580078125
331 intr.focal_lenght_x = 646.7566528320313
332 intr.focal_lenght_y = 644.9691772460938
333 intr.distortion_model = 2
334 intr.distortion_coeffs = [-0.05454780161380768,0.056755296885967255,0.0010132350726053119,0.0003381881397217512,-0.01852494664490223]
335 intrinsics.append( intr )
337 return set( intrinsics )
343 intr = dds.video_intrinsics();
346 intr.principal_point_x = 214.33639526367188
347 intr.principal_point_y = 119.0371322631836
348 intr.focal_lenght_x = 210.80271911621094
349 intr.focal_lenght_y = 210.80271911621094
350 intr.distortion_model = 4
351 intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
352 intrinsics.append( intr )
354 intr = dds.video_intrinsics();
357 intr.principal_point_x = 242.6449737548828
358 intr.principal_point_y = 133.9099578857422
359 intr.focal_lenght_x = 238.64459228515625
360 intr.focal_lenght_y = 238.64459228515625
361 intr.distortion_model = 4
362 intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
363 intrinsics.append( intr )
365 intr = dds.video_intrinsics();
368 intr.principal_point_x = 323.5266418457031
369 intr.principal_point_y = 178.54661560058594
370 intr.focal_lenght_x = 318.1927795410156
371 intr.focal_lenght_y = 318.1927795410156
372 intr.distortion_model = 4
373 intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
374 intrinsics.append( intr )
376 intr = dds.video_intrinsics();
379 intr.principal_point_x = 324.21624755859375
380 intr.principal_point_y = 238.26242065429688
381 intr.focal_lenght_x = 380.41363525390625
382 intr.focal_lenght_y = 380.41363525390625
383 intr.distortion_model = 4
384 intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
385 intrinsics.append( intr )
387 intr = dds.video_intrinsics();
390 intr.principal_point_x = 428.67279052734375
391 intr.principal_point_y = 238.0742645263672
392 intr.focal_lenght_x = 421.6054382324219
393 intr.focal_lenght_y = 421.6054382324219
394 intr.distortion_model = 4
395 intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
396 intrinsics.append( intr )
398 intr = dds.video_intrinsics();
401 intr.principal_point_x = 647.0532836914063
402 intr.principal_point_y = 357.0932312011719
403 intr.focal_lenght_x = 636.3855590820313
404 intr.focal_lenght_y = 636.3855590820313
405 intr.distortion_model = 4
406 intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
407 intrinsics.append( intr )
415 intr = dds.video_intrinsics();
418 intr.principal_point_x = 135.05328369140625
419 intr.principal_point_y = 69.09323120117188
420 intr.focal_lenght_x = 636.3855590820313
421 intr.focal_lenght_y = 636.3855590820313
422 intr.distortion_model = 4
423 intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
424 intrinsics.append( intr )
428 return set( intrinsics )
438 extr = dds.extrinsics();
439 extr.rotation = (0.9999844431877136,0.0014127078466117382,0.0053943851962685585,-0.001408747979439795,0.9999987483024597,-0.0007378021255135536,-0.005395420826971531,0.000730191299226135,0.9999851584434509)
440 extr.translation = (6.110243703005835e-05,1.1573569281608798e-05,6.581118213944137e-06)
441 extrinsics[(
"Color",
"Depth")] = extr
442 extr = dds.extrinsics();
443 extr.rotation = (0.9999844431877136,0.0014127078466117382,0.0053943851962685585,-0.001408747979439795,0.9999987483024597,-0.0007378021255135536,-0.005395420826971531,0.000730191299226135,0.9999851584434509)
444 extr.translation = (6.110243703005835e-05,1.1573569281608798e-05,6.581118213944137e-06)
445 extrinsics[(
"Color",
"Infrared") ] = extr
446 extr = dds.extrinsics();
447 extr.rotation = (0.9999844431877136,0.0014127078466117382,0.0053943851962685585,-0.001408747979439795,0.9999987483024597,-0.0007378021255135536,-0.005395420826971531,0.000730191299226135,0.9999851584434509)
448 extr.translation = (6.110243703005835e-05,1.1573569281608798e-05,6.581118213944137e-06)
449 extrinsics[(
"Color",
"Infrared_1")] = extr
450 extr = dds.extrinsics();
451 extr.rotation = (0.9999844431877136,0.0014127078466117382,0.0053943851962685585,-0.001408747979439795,0.9999987483024597,-0.0007378021255135536,-0.005395420826971531,0.000730191299226135,0.9999851584434509)
452 extr.translation = (-0.017938679084181786,1.1573569281608798e-05,6.581118213944137e-06)
453 extrinsics[(
"Color",
"Infrared_2")] = extr
454 extr = dds.extrinsics();
455 extr.rotation = (0.9999844431877136,-0.001408747979439795,-0.005395420826971531,0.0014127078466117382,0.9999987483024597,0.000730191299226135,0.0053943851962685585,-0.0007378021255135536,0.9999851584434509)
456 extr.translation = (-6.115333235356957e-05,-1.1482620720926207e-05,-6.2597978285339195e-06)
457 extrinsics[(
"Depth",
"Color")] = extr
458 extr = dds.extrinsics();
459 extr.rotation = (1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)
460 extr.translation = (0.0,0.0,0.0)
461 extrinsics[(
"Depth",
"Infrared")] = extr
462 extr = dds.extrinsics();
463 extr.rotation = (1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)
464 extr.translation = (0.0,0.0,0.0)
465 extrinsics[(
"Depth",
"Infrared_1")] = extr
466 extr = dds.extrinsics();
467 extr.rotation = (1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)
468 extr.translation = (-0.017999781295657158,0.0,0.0)
469 extrinsics[(
"Depth",
"Infrared_2")] = extr
470 extr = dds.extrinsics();
471 extr.rotation = (0.9999844431877136,-0.001408747979439795,-0.005395420826971531,0.0014127078466117382,0.9999987483024597,0.000730191299226135,0.0053943851962685585,-0.0007378021255135536,0.9999851584434509)
472 extr.translation = (-6.115333235356957e-05,-1.1482620720926207e-05,-6.2597978285339195e-06)
473 extrinsics[(
"Infrared",
"Color")] = extr
474 extr = dds.extrinsics();
475 extr.rotation = (1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)
476 extr.translation = (0.0,0.0,0.0)
477 extrinsics[(
"Infrared",
"Depth")] = extr
478 extr = dds.extrinsics();
479 extr.rotation = (1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)
480 extr.translation = (0.0,0.0,0.0)
481 extrinsics[(
"Infrared",
"Infrared_1")] = extr
482 extr = dds.extrinsics();
483 extr.rotation = (1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)
484 extr.translation = (-0.017999781295657158,0.0,0.0)
485 extrinsics[(
"Infrared",
"Infrared_2")] = extr
486 extr = dds.extrinsics();
487 extr.rotation = (0.9999844431877136,-0.001408747979439795,-0.005395420826971531,0.0014127078466117382,0.9999987483024597,0.000730191299226135,0.0053943851962685585,-0.0007378021255135536,0.9999851584434509)
488 extr.translation = (-6.115333235356957e-05,-1.1482620720926207e-05,-6.2597978285339195e-06)
489 extrinsics[(
"Infrared_1",
"Color")] = extr
490 extr = dds.extrinsics();
491 extr.rotation = (1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)
492 extr.translation = (0.0,0.0,0.0)
493 extrinsics[(
"Infrared_1",
"Depth")] = extr
494 extr = dds.extrinsics();
495 extr.rotation = (1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)
496 extr.translation = (0.0,0.0,0.0)
497 extrinsics[(
"Infrared_1",
"Infrared")] = extr
498 extr = dds.extrinsics();
499 extr.rotation = (1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)
500 extr.translation = (-0.017999781295657158,0.0,0.0)
501 extrinsics[(
"Infrared_1",
"Infrared_2")] = extr
502 extr = dds.extrinsics();
503 extr.rotation = (0.9999844431877136,-0.001408747979439795,-0.005395420826971531,0.0014127078466117382,0.9999987483024597,0.000730191299226135,0.0053943851962685585,-0.0007378021255135536,0.9999851584434509)
504 extr.translation = (0.01793834939599037,-3.683977774926461e-05,-0.00010337619460187852)
505 extrinsics[(
"Infrared_2",
"Color")] = extr
506 extr = dds.extrinsics();
507 extr.rotation = (1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)
508 extr.translation = (0.017999781295657158,0.0,0.0)
509 extrinsics[(
"Infrared_2",
"Depth")] = extr
510 extr = dds.extrinsics();
511 extr.rotation = (1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)
512 extr.translation = (0.017999781295657158,0.0,0.0)
513 extrinsics[(
"Infrared_2",
"Infrared")] = extr
514 extr = dds.extrinsics();
515 extr.rotation = (1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)
516 extr.translation = (0.017999781295657158,0.0,0.0)
517 extrinsics[(
"Infrared_2",
"Infrared_1")] = extr