d405.py
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1 # License: Apache 2.0. See LICENSE file in root directory.
2 # Copyright(c) 2024 Intel Corporation. All Rights Reserved.
3 
4 import pyrealdds as dds
5 from rspy import log, test
6 
7 
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"
13 } )
14 
15 
16 def build( participant ):
17  """
18  Build a D405 device server for use in DDS
19  """
20  depth = depth_stream()
21  # ir0 = colored_infrared_stream() # Colored infrared currently not sent on DDS
22  ir1 = ir_stream( 1 )
23  ir2 = ir_stream( 2 )
24  color = color_stream()
25  extrinsics = get_extrinsics()
26  #
27  d405 = dds.device_server( participant, device_info.topic_root )
28  # d405.init( [ir0, ir1, ir2, color, depth], [], extrinsics ) # Colored infrared currently not sent on DDS
29  d405.init( [ir1, ir2, color, depth], [], extrinsics )
30  return d405
31 
32 
34  stream = dds.ir_stream_server( "Infrared", "Stereo Module" )
35  stream.init_profiles( colored_infrared_stream_profiles(), 11 )
36  #stream.init_options( stereo_module_options() )
37  return stream
38 
39 
41  return [
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 )
71  ]
72 
73 
75  return [
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 )
105  ]
106 
107 
109  stream = dds.depth_stream_server( "Depth", "Stereo Module" )
110  stream.init_profiles( depth_stream_profiles(), 5 )
111  stream.init_options( stereo_module_options() )
112  stream.set_intrinsics( depth_stream_intrinsics() )
113  return stream
114 
115 
117  return [
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 )
148  ]
149 
150 
151 def ir_stream( number ):
152  stream = dds.ir_stream_server( "Infrared_" + str(number), "Stereo Module" )
153  profiles = ir_stream_profiles()
154  if number == 1:
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 )
158  #stream.init_options( stereo_module_options() )
159  stream.set_intrinsics( ir_stream_intrinsics() )
160  return stream
161 
162 
164  return [
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 )
193  ]
194 
195 
197  stream = dds.color_stream_server( "Color", "Stereo Module" )
198  stream.init_profiles( color_stream_profiles(), 1 )
199  #stream.init_options( stereo_module_options() )
200  stream.set_intrinsics( color_stream_intrinsics() )
201  return stream
202 
203 
205  options = []
206 
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 )
264 
265  return options
266 
267 
269  intrinsics = []
270 
271  intr = dds.video_intrinsics();
272  intr.width = 424
273  intr.height = 240
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 )
281 
282  intr = dds.video_intrinsics();
283  intr.width = 480
284  intr.height = 270
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 )
292 
293  intr = dds.video_intrinsics();
294  intr.width = 640
295  intr.height = 480
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 )
303 
304  intr = dds.video_intrinsics();
305  intr.width = 640
306  intr.height = 480
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 )
314 
315  intr = dds.video_intrinsics();
316  intr.width = 848
317  intr.height = 480
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 )
325 
326  intr = dds.video_intrinsics();
327  intr.width = 1280
328  intr.height = 720
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 )
336 
337  return set( intrinsics )
338 
339 
341  intrinsics = []
342 
343  intr = dds.video_intrinsics();
344  intr.width = 424
345  intr.height = 240
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 )
353 
354  intr = dds.video_intrinsics();
355  intr.width = 480
356  intr.height = 270
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 )
364 
365  intr = dds.video_intrinsics();
366  intr.width = 640
367  intr.height = 360
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 )
375 
376  intr = dds.video_intrinsics();
377  intr.width = 640
378  intr.height = 480
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 )
386 
387  intr = dds.video_intrinsics();
388  intr.width = 848
389  intr.height = 480
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 )
397 
398  intr = dds.video_intrinsics();
399  intr.width = 1280
400  intr.height = 720
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 )
408 
409  return intrinsics
410 
411 
413  intrinsics = []
414 
415  intr = dds.video_intrinsics();
416  intr.width = 256
417  intr.height = 144
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 )
425 
426  intrinsics.extend( depth_ir_common_intrinsics() )
427 
428  return set( intrinsics )
429 
430 
432  return set( depth_ir_common_intrinsics() )
433 
434 
436  extrinsics = {}
437 
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
518 
519  return extrinsics
520 
d405.colored_infrared_stream_profiles
def colored_infrared_stream_profiles()
Definition: d405.py:40
d405.ir_stream
def ir_stream(number)
Definition: d405.py:151
d405.color_stream
def color_stream()
Definition: d405.py:196
d405.depth_stream_intrinsics
def depth_stream_intrinsics()
Definition: d405.py:412
d405.ir_stream_intrinsics
def ir_stream_intrinsics()
Definition: d405.py:431
read_bag_example.str
str
Definition: read_bag_example.py:21
d405.colored_infrared_stream
def colored_infrared_stream()
Definition: d405.py:33
d405.ir_stream_profiles
def ir_stream_profiles()
Definition: d405.py:116
d405.depth_stream
def depth_stream()
Definition: d405.py:108
d405.get_extrinsics
def get_extrinsics()
Definition: d405.py:435
d405.depth_ir_common_intrinsics
def depth_ir_common_intrinsics()
Definition: d405.py:340
d405.color_stream_profiles
def color_stream_profiles()
Definition: d405.py:163
d405.color_stream_intrinsics
def color_stream_intrinsics()
Definition: d405.py:268
d405.build
def build(participant)
Definition: d405.py:16
d405.stereo_module_options
def stereo_module_options()
Definition: d405.py:204
d405.depth_stream_profiles
def depth_stream_profiles()
Definition: d405.py:74


librealsense2
Author(s): LibRealSense ROS Team
autogenerated on Fri Aug 2 2024 08:30:02