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622 lines
28 KiB
622 lines
28 KiB
2 months ago
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# License: Apache 2.0. See LICENSE file in root directory.
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# Copyright(c) 2024 Intel Corporation. All Rights Reserved.
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import pyrealdds as dds
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from rspy import log, test
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device_info = dds.message.device_info.from_json({
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"name": "Intel RealSense D435I",
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"serial": "036522070660",
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"product-line": "D400",
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"topic-root": "realsense/D435I_036522070660"
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})
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def build( participant ):
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"""
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Build a D435i device server for use in DDS
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"""
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d435i = dds.device_server( participant, device_info.topic_root )
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d435i.init( build_streams(), build_options(), get_extrinsics() )
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return d435i
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def build_streams():
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"""
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Build the streams for a D435i device server
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"""
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motion = motion_stream()
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depth = depth_stream()
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ir1 = ir_stream( 1 )
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ir2 = ir_stream( 2 )
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color = color_stream()
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return [color, depth, motion, ir1, ir2]
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def build_options():
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return []
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def gyro_stream_profiles():
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return [
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dds.motion_stream_profile( 200 ),
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dds.motion_stream_profile( 400 )
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]
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def motion_stream():
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stream = dds.motion_stream_server( "Motion", "Motion Module" )
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stream.init_profiles( gyro_stream_profiles(), 0 )
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stream.init_options( motion_module_options() )
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intr = dds.motion_intrinsics()
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intr.data = [[1.0,0.0,0.0,0.0],[0.0,1.0,0.0,0.0],[0.0,0.0,1.0,0.0]]
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intr.noise_variances = [0.0,0.0,0.0]
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intr.bias_variances = [0.0,0.0,0.0]
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stream.set_gyro_intrinsics( intr )
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intr = dds.motion_intrinsics()
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intr.data = [[1.0,0.0,0.0,0.0],[0.0,1.0,0.0,0.0],[0.0,0.0,1.0,0.0]]
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intr.noise_variances = [0.0,0.0,0.0]
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intr.bias_variances = [0.0,0.0,0.0]
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stream.set_accel_intrinsics( intr )
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return stream
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def depth_stream_profiles():
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return [
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dds.video_stream_profile( 30, dds.video_encoding.z16, 1280,720 ),
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dds.video_stream_profile( 15, dds.video_encoding.z16, 1280,720 ),
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dds.video_stream_profile( 6, dds.video_encoding.z16, 1280,720 ),
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dds.video_stream_profile( 90, dds.video_encoding.z16, 848,480 ),
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dds.video_stream_profile( 60, dds.video_encoding.z16, 848,480 ),
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dds.video_stream_profile( 30, dds.video_encoding.z16, 848,480 ),
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dds.video_stream_profile( 15, dds.video_encoding.z16, 848,480 ),
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dds.video_stream_profile( 6, dds.video_encoding.z16, 848,480 ),
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dds.video_stream_profile( 300, dds.video_encoding.z16, 848,100 ),
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dds.video_stream_profile( 100, dds.video_encoding.z16, 848,100 ),
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dds.video_stream_profile( 90, dds.video_encoding.z16, 640,480 ),
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dds.video_stream_profile( 60, dds.video_encoding.z16, 640,480 ),
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dds.video_stream_profile( 30, dds.video_encoding.z16, 640,480 ),
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dds.video_stream_profile( 15, dds.video_encoding.z16, 640,480 ),
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dds.video_stream_profile( 6, dds.video_encoding.z16, 640,480 ),
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dds.video_stream_profile( 90, dds.video_encoding.z16, 640,360 ),
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dds.video_stream_profile( 60, dds.video_encoding.z16, 640,360 ),
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dds.video_stream_profile( 30, dds.video_encoding.z16, 640,360 ),
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dds.video_stream_profile( 15, dds.video_encoding.z16, 640,360 ),
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dds.video_stream_profile( 6, dds.video_encoding.z16, 640,360 ),
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dds.video_stream_profile( 90, dds.video_encoding.z16, 480,270 ),
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dds.video_stream_profile( 60, dds.video_encoding.z16, 480,270 ),
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dds.video_stream_profile( 30, dds.video_encoding.z16, 480,270 ),
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dds.video_stream_profile( 15, dds.video_encoding.z16, 480,270 ),
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dds.video_stream_profile( 6, dds.video_encoding.z16, 480,270 ),
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dds.video_stream_profile( 90, dds.video_encoding.z16, 424,240 ),
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dds.video_stream_profile( 60, dds.video_encoding.z16, 424,240 ),
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dds.video_stream_profile( 30, dds.video_encoding.z16, 424,240 ),
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dds.video_stream_profile( 15, dds.video_encoding.z16, 424,240 ),
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dds.video_stream_profile( 6, dds.video_encoding.z16, 424,240 ),
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dds.video_stream_profile( 300, dds.video_encoding.z16, 256,144 ),
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dds.video_stream_profile( 90, dds.video_encoding.z16, 256,144 )
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]
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def depth_stream():
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stream = dds.depth_stream_server( "Depth", "Stereo Module" )
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stream.init_profiles( depth_stream_profiles(), 5 )
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stream.init_options( stereo_module_options() )
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stream.set_intrinsics( depth_stream_intrinsics() )
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return stream
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def ir_stream_profiles():
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return [
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dds.video_stream_profile( 30, dds.video_encoding.y8, 1280,800 ),
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dds.video_stream_profile( 25, dds.video_encoding.y16, 1280,800 ),
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dds.video_stream_profile( 15, dds.video_encoding.y16, 1280,800 ),
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dds.video_stream_profile( 15, dds.video_encoding.y8, 1280,800 ),
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dds.video_stream_profile( 30, dds.video_encoding.y8, 1280,720 ),
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dds.video_stream_profile( 15, dds.video_encoding.y8, 1280,720 ),
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dds.video_stream_profile( 6, dds.video_encoding.y8, 1280,720 ),
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dds.video_stream_profile( 90, dds.video_encoding.y8, 848,480 ),
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dds.video_stream_profile( 60, dds.video_encoding.y8, 848,480 ),
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dds.video_stream_profile( 30, dds.video_encoding.y8, 848,480 ),
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dds.video_stream_profile( 15, dds.video_encoding.y8, 848,480 ),
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dds.video_stream_profile( 6, dds.video_encoding.y8, 848,480 ),
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dds.video_stream_profile( 300, dds.video_encoding.y8, 848,100 ),
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dds.video_stream_profile( 100, dds.video_encoding.y8, 848,100 ),
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dds.video_stream_profile( 90, dds.video_encoding.y8, 640,480 ),
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dds.video_stream_profile( 60, dds.video_encoding.y8, 640,480 ),
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dds.video_stream_profile( 30, dds.video_encoding.y8, 640,480 ),
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dds.video_stream_profile( 15, dds.video_encoding.y8, 640,480 ),
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dds.video_stream_profile( 6, dds.video_encoding.y8, 640,480 ),
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dds.video_stream_profile( 25, dds.video_encoding.y16, 640,400 ),
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dds.video_stream_profile( 15, dds.video_encoding.y16, 640,400 ),
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dds.video_stream_profile( 90, dds.video_encoding.y8, 640,360 ),
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dds.video_stream_profile( 60, dds.video_encoding.y8, 640,360 ),
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dds.video_stream_profile( 30, dds.video_encoding.y8, 640,360 ),
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dds.video_stream_profile( 15, dds.video_encoding.y8, 640,360 ),
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dds.video_stream_profile( 6, dds.video_encoding.y8, 640,360 ),
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dds.video_stream_profile( 90, dds.video_encoding.y8, 480,270 ),
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dds.video_stream_profile( 60, dds.video_encoding.y8, 480,270 ),
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dds.video_stream_profile( 30, dds.video_encoding.y8, 480,270 ),
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dds.video_stream_profile( 15, dds.video_encoding.y8, 480,270 ),
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dds.video_stream_profile( 6, dds.video_encoding.y8, 480,270 ),
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dds.video_stream_profile( 90, dds.video_encoding.y8, 424,240 ),
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dds.video_stream_profile( 60, dds.video_encoding.y8, 424,240 ),
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dds.video_stream_profile( 30, dds.video_encoding.y8, 424,240 ),
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dds.video_stream_profile( 15, dds.video_encoding.y8, 424,240 ),
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dds.video_stream_profile( 6, dds.video_encoding.y8, 424,240 )
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]
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def ir_stream( number ):
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stream = dds.ir_stream_server( "Infrared_" + str(number), "Stereo Module" )
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stream.init_profiles( ir_stream_profiles(), 9 )
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#stream.init_options( stereo_module_options() )
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stream.set_intrinsics( ir_stream_intrinsics() )
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return stream
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def color_stream_profiles():
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return [
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dds.video_stream_profile( 30, dds.video_encoding.byr2, 1920,1080 ),
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dds.video_stream_profile( 30, dds.video_encoding.yuyv, 1920,1080 ),
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dds.video_stream_profile( 15, dds.video_encoding.yuyv, 1920,1080 ),
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dds.video_stream_profile( 6, dds.video_encoding.yuyv, 1920,1080 ),
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dds.video_stream_profile( 30, dds.video_encoding.yuyv, 1280,720 ),
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dds.video_stream_profile( 15, dds.video_encoding.yuyv, 1280,720 ),
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dds.video_stream_profile( 6, dds.video_encoding.yuyv, 1280,720 ),
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dds.video_stream_profile( 60, dds.video_encoding.yuyv, 960,540 ),
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dds.video_stream_profile( 30, dds.video_encoding.yuyv, 960,540 ),
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dds.video_stream_profile( 15, dds.video_encoding.yuyv, 960,540 ),
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dds.video_stream_profile( 6, dds.video_encoding.yuyv, 960,540 ),
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dds.video_stream_profile( 60, dds.video_encoding.yuyv, 848,480 ),
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dds.video_stream_profile( 30, dds.video_encoding.yuyv, 848,480 ),
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dds.video_stream_profile( 15, dds.video_encoding.yuyv, 848,480 ),
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dds.video_stream_profile( 6, dds.video_encoding.yuyv, 848,480 ),
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dds.video_stream_profile( 60, dds.video_encoding.yuyv, 640,480 ),
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dds.video_stream_profile( 30, dds.video_encoding.yuyv, 640,480 ),
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dds.video_stream_profile( 15, dds.video_encoding.yuyv, 640,480 ),
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dds.video_stream_profile( 6, dds.video_encoding.yuyv, 640,480 ),
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dds.video_stream_profile( 60, dds.video_encoding.yuyv, 640,360 ),
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dds.video_stream_profile( 30, dds.video_encoding.yuyv, 640,360 ),
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dds.video_stream_profile( 15, dds.video_encoding.yuyv, 640,360 ),
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dds.video_stream_profile( 6, dds.video_encoding.yuyv, 640,360 ),
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dds.video_stream_profile( 60, dds.video_encoding.yuyv, 424,240 ),
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dds.video_stream_profile( 30, dds.video_encoding.yuyv, 424,240 ),
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dds.video_stream_profile( 15, dds.video_encoding.yuyv, 424,240 ),
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dds.video_stream_profile( 6, dds.video_encoding.yuyv, 424,240 ),
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dds.video_stream_profile( 60, dds.video_encoding.yuyv, 320,240 ),
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dds.video_stream_profile( 30, dds.video_encoding.yuyv, 320,240 ),
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dds.video_stream_profile( 6, dds.video_encoding.yuyv, 320,240 ),
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dds.video_stream_profile( 60, dds.video_encoding.yuyv, 320,180 ),
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dds.video_stream_profile( 30, dds.video_encoding.yuyv, 320,180 ),
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dds.video_stream_profile( 6, dds.video_encoding.yuyv, 320,180 )
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]
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def color_stream():
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stream = dds.color_stream_server( "Color", "RGB Camera" )
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stream.init_profiles( color_stream_profiles(), 8 )
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stream.init_options( rgb_camera_options() )
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stream.set_intrinsics( color_stream_intrinsics() )
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return stream
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def stereo_module_options():
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options = []
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option = dds.option.from_json( ["Exposure", 8500, 1, 200000, 1, 8500, "Depth Exposure (usec)"] )
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options.append( option )
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option = dds.option.from_json( ["Gain", 16, 16, 248, 1, 16, "UVC image gain"] )
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options.append( option )
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option = dds.option.from_json( ["Enable Auto Exposure", 1, 0, 1, 1, 1, "Enable Auto Exposure"] )
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options.append( option )
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option = dds.option.from_json( ["Visual Preset", 0, 0, 5, 1, 0, "Advanced-Mode Preset"] )
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options.append( option )
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option = dds.option.from_json( ["Laser Power", 150, 0, 360, 30, 150, "Manual laser power in mw. applicable only when laser power mode is set to Manual"] )
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options.append( option )
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option = dds.option.from_json( ["Emitter Enabled", 1, 0, 2, 1, 1, "Emitter select, 0-disable all emitters, 1-enable laser, 2-enable laser auto (opt), 3-enable LED (opt)"] )
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options.append( option )
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option = dds.option.from_json( ["Error Polling Enabled", 1, 0, 1, 1, 0, "Enable / disable polling of camera internal errors"] )
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options.append( option )
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option = dds.option.from_json( ["Output Trigger Enabled", 0, 0, 1, 1, 0, "Generate trigger from the camera to external device once per frame"] )
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options.append( option )
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option = dds.option.from_json( ["Depth Units", 0.001, 1e-06, 0.01, 1e-06, 0.001, "Number of meters represented by a single depth unit"] )
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options.append( option )
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option = dds.option.from_json( ["Stereo Baseline", 49.864, 49.864, 49.864, 0, 49.864, "Distance in mm between the stereo imagers"] )
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options.append( option )
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option = dds.option.from_json( ["Inter Cam Sync Mode", 0, 0, 260, 1, 0,
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"Inter-camera synchronization mode: 0:Default, 1:Master, 2:Slave, 3:Full Salve, 4-258:Genlock with burst count of 1-255 frames for each trigger, 259 and 260 for two frames per trigger with laser ON-OFF and OFF-ON."] )
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options.append( option )
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option = dds.option.from_json( ["Emitter On Off", 0, 0, 1, 1, 0, "Alternating emitter pattern, toggled on/off on per-frame basis"] )
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options.append( option )
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option = dds.option.from_json( ["Global Time Enabled", 1, 0, 1, 1, 1, "Enable/Disable global timestamp"] )
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options.append( option )
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option = dds.option.from_json( ["Emitter Always On", 0, 0, 1, 1, 0, "Emitter always on mode: 0:disabled(default), 1:enabled"] )
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options.append( option )
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option = dds.option.from_json( ["Hdr Enabled", 0, 0, 1, 1, 0, "HDR Option"] )
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options.append( option )
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option = dds.option.from_json( ["Sequence Name", 0, 0, 3, 1, 1, "HDR Option"] )
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options.append( option )
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option = dds.option.from_json( ["Sequence Size", 2, 2, 2, 1, 2, "HDR Option"] )
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options.append( option )
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option = dds.option.from_json( ["Sequence Id", 0, 0, 2, 1, 0, "HDR Option"] )
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options.append( option )
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option = dds.option.from_json( ["Auto Exposure Limit", 200000, 1, 200000, 1, 8500,
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"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."] )
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options.append( option )
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option = dds.option.from_json( ["Auto Gain Limit", 248, 16, 248, 1, 16,
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"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."] )
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options.append( option )
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option = dds.option.from_json( ["Auto Exposure Limit Toggle", 0, 0, 1, 1, 0, "Toggle Auto-Exposure Limit"] )
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options.append( option )
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option = dds.option.from_json( ["Auto Gain Limit Toggle", 0, 0, 1, 1, 0, "Toggle Auto-Gain Limit"] )
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options.append( option )
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return options
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|
|
|
||
|
|
|
||
|
|
def rgb_camera_options():
|
||
|
|
options = []
|
||
|
|
|
||
|
|
option = dds.option.from_json( ["Backlight Compensation", 0, 0, 1, 1, 0, "Enable / disable backlight compensation"] )
|
||
|
|
options.append( option )
|
||
|
|
option = dds.option.from_json( ["Brightness", 0, -64, 64, 1, 0, "UVC image brightness"] )
|
||
|
|
options.append( option )
|
||
|
|
option = dds.option.from_json( ["Contrast", 50, 0, 100, 1, 50, "UVC image contrast"] )
|
||
|
|
options.append( option )
|
||
|
|
option = dds.option.from_json( ["Exposure", 156, 1, 10000, 1, 156, "Controls exposure time of color camera. Setting any value will disable auto exposure"] )
|
||
|
|
options.append( option )
|
||
|
|
option = dds.option.from_json( ["Gain", 6, 0, 128, 1, 64, "UVC image gain"] )
|
||
|
|
options.append( option )
|
||
|
|
option = dds.option.from_json( ["Gamma", 300, 100, 500, 1, 300, "UVC image gamma setting"] )
|
||
|
|
options.append( option )
|
||
|
|
option = dds.option.from_json( ["Hue", 0, -180, 180, 1, 0, "UVC image hue"] )
|
||
|
|
options.append( option )
|
||
|
|
option = dds.option.from_json( ["Saturation", 64, 0, 100, 1, 64, "UVC image saturation setting"] )
|
||
|
|
options.append( option )
|
||
|
|
option = dds.option.from_json( ["Sharpness", 50, 0, 100, 1, 50, "UVC image sharpness setting"] )
|
||
|
|
options.append( option )
|
||
|
|
option = dds.option.from_json( ["White Balance", 4600, 2800, 6500, 10, 4600,
|
||
|
|
"Controls white balance of color image. Setting any value will disable auto white balance"] )
|
||
|
|
options.append( option )
|
||
|
|
option = dds.option.from_json( ["Enable Auto Exposure", 0, 0, 1, 1, 1, "Enable / disable auto-exposure"] )
|
||
|
|
options.append( option )
|
||
|
|
option = dds.option.from_json( ["Enable Auto White Balance", 1, 0, 1, 1, 1, "Enable / disable auto-white-balance"] )
|
||
|
|
options.append( option )
|
||
|
|
option = dds.option.from_json( ["Power Line Frequency", 3, 0, 3, 1, 3, "Power Line Frequency"] )
|
||
|
|
options.append( option )
|
||
|
|
option = dds.option.from_json( ["Auto Exposure Priority", 0, 0, 1, 1, 0,
|
||
|
|
"Restrict Auto-Exposure to enforce constant FPS rate. Turn ON to remove the restrictions (may result in FPS drop)"] )
|
||
|
|
options.append( option )
|
||
|
|
option = dds.option.from_json( ["Global Time Enabled", 1, 0, 1, 1, 1, "Enable/Disable global timestamp"] )
|
||
|
|
options.append( option )
|
||
|
|
|
||
|
|
return options
|
||
|
|
|
||
|
|
|
||
|
|
def motion_module_options():
|
||
|
|
options = []
|
||
|
|
|
||
|
|
option = dds.option.from_json( ["Enable Motion Correction", 1, 0, 1, 1, 1, "Enable/Disable Automatic Motion Data Correction"] )
|
||
|
|
options.append( option )
|
||
|
|
option = dds.option.from_json( ["Global Time Enabled", 1, 0, 1, 1, 1, "Enable/Disable global timestamp"] )
|
||
|
|
options.append( option )
|
||
|
|
|
||
|
|
return options
|
||
|
|
|
||
|
|
|
||
|
|
def color_stream_intrinsics():
|
||
|
|
intrinsics = []
|
||
|
|
|
||
|
|
intr = dds.video_intrinsics();
|
||
|
|
intr.width = 320
|
||
|
|
intr.height = 180
|
||
|
|
intr.principal_point_x = 161.7417755126953
|
||
|
|
intr.principal_point_y = 90.47455596923828
|
||
|
|
intr.focal_lenght_x = 227.0221710205078
|
||
|
|
intr.focal_lenght_y = 227.1049346923828
|
||
|
|
intr.distortion_model = 2
|
||
|
|
intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
|
||
|
|
intrinsics.append( intr )
|
||
|
|
|
||
|
|
intr = dds.video_intrinsics();
|
||
|
|
intr.width = 320
|
||
|
|
intr.height = 240
|
||
|
|
intr.principal_point_x = 162.32237243652344
|
||
|
|
intr.principal_point_y = 120.63274383544922
|
||
|
|
intr.focal_lenght_x = 302.69622802734375
|
||
|
|
intr.focal_lenght_y = 302.80657958984375
|
||
|
|
intr.distortion_model = 2
|
||
|
|
intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
|
||
|
|
intrinsics.append( intr )
|
||
|
|
|
||
|
|
intr = dds.video_intrinsics();
|
||
|
|
intr.width = 424
|
||
|
|
intr.height = 240
|
||
|
|
intr.principal_point_x = 214.32235717773438
|
||
|
|
intr.principal_point_y = 120.63274383544922
|
||
|
|
intr.focal_lenght_x = 302.69622802734375
|
||
|
|
intr.focal_lenght_y = 302.80657958984375
|
||
|
|
intr.distortion_model = 2
|
||
|
|
intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
|
||
|
|
intrinsics.append( intr )
|
||
|
|
|
||
|
|
intr = dds.video_intrinsics();
|
||
|
|
intr.width = 640
|
||
|
|
intr.height = 360
|
||
|
|
intr.principal_point_x = 323.4835510253906
|
||
|
|
intr.principal_point_y = 180.94911193847656
|
||
|
|
intr.focal_lenght_x = 454.0443420410156
|
||
|
|
intr.focal_lenght_y = 454.2098693847656
|
||
|
|
intr.distortion_model = 2
|
||
|
|
intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
|
||
|
|
intrinsics.append( intr )
|
||
|
|
|
||
|
|
intr = dds.video_intrinsics();
|
||
|
|
intr.width = 640
|
||
|
|
intr.height = 480
|
||
|
|
intr.principal_point_x = 324.6447448730469
|
||
|
|
intr.principal_point_y = 241.26548767089844
|
||
|
|
intr.focal_lenght_x = 605.3924560546875
|
||
|
|
intr.focal_lenght_y = 605.6131591796875
|
||
|
|
intr.distortion_model = 2
|
||
|
|
intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
|
||
|
|
intrinsics.append( intr )
|
||
|
|
|
||
|
|
intr = dds.video_intrinsics();
|
||
|
|
intr.width = 848
|
||
|
|
intr.height = 480
|
||
|
|
intr.principal_point_x = 428.64471435546875
|
||
|
|
intr.principal_point_y = 241.26548767089844
|
||
|
|
intr.focal_lenght_x = 605.3924560546875
|
||
|
|
intr.focal_lenght_y = 605.6131591796875
|
||
|
|
intr.distortion_model = 2
|
||
|
|
intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
|
||
|
|
intrinsics.append( intr )
|
||
|
|
|
||
|
|
intr = dds.video_intrinsics();
|
||
|
|
intr.width = 960
|
||
|
|
intr.height = 540
|
||
|
|
intr.principal_point_x = 485.2253112792969
|
||
|
|
intr.principal_point_y = 271.4236755371094
|
||
|
|
intr.focal_lenght_x = 681.0665283203125
|
||
|
|
intr.focal_lenght_y = 681.3148193359375
|
||
|
|
intr.distortion_model = 2
|
||
|
|
intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
|
||
|
|
intrinsics.append( intr )
|
||
|
|
|
||
|
|
intr = dds.video_intrinsics();
|
||
|
|
intr.width = 1280
|
||
|
|
intr.height = 720
|
||
|
|
intr.principal_point_x = 646.9671020507813
|
||
|
|
intr.principal_point_y = 361.8982238769531
|
||
|
|
intr.focal_lenght_x = 908.0886840820313
|
||
|
|
intr.focal_lenght_y = 908.4197387695313
|
||
|
|
intr.distortion_model = 2
|
||
|
|
intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
|
||
|
|
intrinsics.append( intr )
|
||
|
|
|
||
|
|
intr = dds.video_intrinsics();
|
||
|
|
intr.width = 1920
|
||
|
|
intr.height = 1080
|
||
|
|
intr.principal_point_x = 970.4506225585938
|
||
|
|
intr.principal_point_y = 542.8473510742188
|
||
|
|
intr.focal_lenght_x = 1362.133056640625
|
||
|
|
intr.focal_lenght_y = 1362.629638671875
|
||
|
|
intr.distortion_model = 2
|
||
|
|
intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
|
||
|
|
intrinsics.append( intr )
|
||
|
|
|
||
|
|
return set( intrinsics )
|
||
|
|
|
||
|
|
|
||
|
|
def depth_ir_common_intrinsics():
|
||
|
|
intrinsics = []
|
||
|
|
|
||
|
|
intr = dds.video_intrinsics();
|
||
|
|
intr.width = 424
|
||
|
|
intr.height = 240
|
||
|
|
intr.principal_point_x = 212.0788116455078
|
||
|
|
intr.principal_point_y = 119.07991790771484
|
||
|
|
intr.focal_lenght_x = 209.13233947753906
|
||
|
|
intr.focal_lenght_y = 209.13233947753906
|
||
|
|
intr.distortion_model = 4
|
||
|
|
intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
|
||
|
|
intrinsics.append( intr )
|
||
|
|
|
||
|
|
intr = dds.video_intrinsics();
|
||
|
|
intr.width = 480
|
||
|
|
intr.height = 270
|
||
|
|
intr.principal_point_x = 240.08921813964844
|
||
|
|
intr.principal_point_y = 134.00367736816406
|
||
|
|
intr.focal_lenght_x = 236.7535858154297
|
||
|
|
intr.focal_lenght_y = 236.7535858154297
|
||
|
|
intr.distortion_model = 4
|
||
|
|
intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
|
||
|
|
intrinsics.append( intr )
|
||
|
|
|
||
|
|
intr = dds.video_intrinsics();
|
||
|
|
intr.width = 640
|
||
|
|
intr.height = 360
|
||
|
|
intr.principal_point_x = 320.11895751953125
|
||
|
|
intr.principal_point_y = 178.67156982421875
|
||
|
|
intr.focal_lenght_x = 315.67144775390625
|
||
|
|
intr.focal_lenght_y = 315.67144775390625
|
||
|
|
intr.distortion_model = 4
|
||
|
|
intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
|
||
|
|
intrinsics.append( intr )
|
||
|
|
|
||
|
|
intr = dds.video_intrinsics();
|
||
|
|
intr.width = 640
|
||
|
|
intr.height = 480
|
||
|
|
intr.principal_point_x = 320.14276123046875
|
||
|
|
intr.principal_point_y = 238.4058837890625
|
||
|
|
intr.focal_lenght_x = 378.80572509765625
|
||
|
|
intr.focal_lenght_y = 378.80572509765625
|
||
|
|
intr.distortion_model = 4
|
||
|
|
intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
|
||
|
|
intrinsics.append( intr )
|
||
|
|
|
||
|
|
intr = dds.video_intrinsics();
|
||
|
|
intr.width = 848
|
||
|
|
intr.height = 100
|
||
|
|
intr.principal_point_x = 424.1576232910156
|
||
|
|
intr.principal_point_y = 48.239837646484375
|
||
|
|
intr.focal_lenght_x = 418.2646789550781
|
||
|
|
intr.focal_lenght_y = 418.2646789550781
|
||
|
|
intr.distortion_model = 4
|
||
|
|
intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
|
||
|
|
intrinsics.append( intr )
|
||
|
|
|
||
|
|
intr = dds.video_intrinsics();
|
||
|
|
intr.width = 848
|
||
|
|
intr.height = 480
|
||
|
|
intr.principal_point_x = 424.1576232910156
|
||
|
|
intr.principal_point_y = 238.23983764648438
|
||
|
|
intr.focal_lenght_x = 418.2646789550781
|
||
|
|
intr.focal_lenght_y = 418.2646789550781
|
||
|
|
intr.distortion_model = 4
|
||
|
|
intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
|
||
|
|
intrinsics.append( intr )
|
||
|
|
|
||
|
|
intr = dds.video_intrinsics();
|
||
|
|
intr.width = 1280
|
||
|
|
intr.height = 720
|
||
|
|
intr.principal_point_x = 640.2379150390625
|
||
|
|
intr.principal_point_y = 357.3431396484375
|
||
|
|
intr.focal_lenght_x = 631.3428955078125
|
||
|
|
intr.focal_lenght_y = 631.3428955078125
|
||
|
|
intr.distortion_model = 4
|
||
|
|
intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
|
||
|
|
intrinsics.append( intr )
|
||
|
|
|
||
|
|
return intrinsics
|
||
|
|
|
||
|
|
|
||
|
|
def depth_stream_intrinsics():
|
||
|
|
intrinsics = []
|
||
|
|
|
||
|
|
intr = dds.video_intrinsics();
|
||
|
|
intr.width = 256
|
||
|
|
intr.height = 144
|
||
|
|
intr.principal_point_x = 128.2379150390625
|
||
|
|
intr.principal_point_y = 69.3431396484375
|
||
|
|
intr.focal_lenght_x = 631.3428955078125
|
||
|
|
intr.focal_lenght_y = 631.3428955078125
|
||
|
|
intr.distortion_model = 4
|
||
|
|
intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
|
||
|
|
intrinsics.append( intr )
|
||
|
|
|
||
|
|
intrinsics.extend( depth_ir_common_intrinsics() )
|
||
|
|
|
||
|
|
return set( intrinsics )
|
||
|
|
|
||
|
|
|
||
|
|
def ir_stream_intrinsics():
|
||
|
|
intrinsics = depth_ir_common_intrinsics()
|
||
|
|
|
||
|
|
intr = dds.video_intrinsics();
|
||
|
|
intr.width = 1280
|
||
|
|
intr.height = 800
|
||
|
|
intr.principal_point_x = 640.2379150390625
|
||
|
|
intr.principal_point_y = 397.3431396484375
|
||
|
|
intr.focal_lenght_x = 631.3428955078125
|
||
|
|
intr.focal_lenght_y = 631.3428955078125
|
||
|
|
intr.distortion_model = 4
|
||
|
|
intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
|
||
|
|
intrinsics.append( intr )
|
||
|
|
|
||
|
|
return set( intrinsics )
|
||
|
|
|
||
|
|
|
||
|
|
def get_extrinsics():
|
||
|
|
extrinsics = {}
|
||
|
|
|
||
|
|
extr = dds.extrinsics();
|
||
|
|
extr.rotation = (0.9999951720237732,0.00040659401565790176,0.0030847808811813593,-0.0004076171899214387,0.9999998807907104,0.0003310548490844667,-0.00308464583940804,-0.0003323106502648443,0.9999951720237732)
|
||
|
|
extr.translation = (-0.015078110620379448,-1.0675736120902002e-05,-0.00021772991749458015)
|
||
|
|
extrinsics[("Color","Depth")] = extr
|
||
|
|
extr = dds.extrinsics();
|
||
|
|
extr.rotation = (0.9999951720237732,0.00040659401565790176,0.0030847808811813593,-0.0004076171899214387,0.9999998807907104,0.0003310548490844667,-0.00308464583940804,-0.0003323106502648443,0.9999951720237732)
|
||
|
|
extr.translation = (-0.02059810981154442,0.0050893244333565235,0.011522269807755947)
|
||
|
|
extrinsics[("Color","Motion")] = extr
|
||
|
|
extr = dds.extrinsics();
|
||
|
|
extr.rotation = (0.9999951720237732,0.00040659401565790176,0.0030847808811813593,-0.0004076171899214387,0.9999998807907104,0.0003310548490844667,-0.00308464583940804,-0.0003323106502648443,0.9999951720237732)
|
||
|
|
extr.translation = (-0.015078110620379448,-1.0675736120902002e-05,-0.00021772991749458015)
|
||
|
|
extrinsics[("Color","Infrared_1")] = extr
|
||
|
|
extr = dds.extrinsics();
|
||
|
|
extr.rotation = (0.9999951720237732,0.00040659401565790176,0.0030847808811813593,-0.0004076171899214387,0.9999998807907104,0.0003310548490844667,-0.00308464583940804,-0.0003323106502648443,0.9999951720237732)
|
||
|
|
extr.translation = (-0.06494206935167313,-1.0675736120902002e-05,-0.00021772991749458015)
|
||
|
|
extrinsics[("Color","Infrared_2")] = extr
|
||
|
|
extr = dds.extrinsics();
|
||
|
|
extr.rotation = (0.9999951720237732,-0.0004076171899214387,-0.00308464583940804,0.00040659401565790176,0.9999998807907104,-0.0003323106502648443,0.0030847808811813593,0.0003310548490844667,0.9999951720237732)
|
||
|
|
extr.translation = (0.015078714117407799,4.601718956109835e-06,0.00017121469136327505)
|
||
|
|
extrinsics[("Depth","Color")] = extr
|
||
|
|
extr = dds.extrinsics();
|
||
|
|
extr.rotation = (1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)
|
||
|
|
extr.translation = (-0.005520000122487545,0.005100000184029341,0.011739999987185001)
|
||
|
|
extrinsics[("Depth","Motion")] = extr
|
||
|
|
extr = dds.extrinsics();
|
||
|
|
extr.rotation = (1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)
|
||
|
|
extr.translation = (0.0,0.0,0.0)
|
||
|
|
extrinsics[("Depth","Infrared_1")] = extr
|
||
|
|
extr = dds.extrinsics();
|
||
|
|
extr.rotation = (1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)
|
||
|
|
extr.translation = (-0.04986396059393883,0.0,0.0)
|
||
|
|
extrinsics[("Depth","Infrared_2")] = extr
|
||
|
|
extr = dds.extrinsics();
|
||
|
|
extr.rotation = (0.9999951720237732,-0.0004076171899214387,-0.00308464583940804,0.00040659401565790176,0.9999998807907104,-0.0003323106502648443,0.0030847808811813593,0.0003310548490844667,0.9999951720237732)
|
||
|
|
extr.translation = (0.02056039869785309,-0.00510153453797102,-0.011584061197936535)
|
||
|
|
extrinsics[("Motion","Color")] = extr
|
||
|
|
extr = dds.extrinsics();
|
||
|
|
extr.rotation = (1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)
|
||
|
|
extr.translation = (0.005520000122487545,-0.005100000184029341,-0.011739999987185001)
|
||
|
|
extrinsics[("Motion","Depth")] = extr
|
||
|
|
extr = dds.extrinsics();
|
||
|
|
extr.rotation = (1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)
|
||
|
|
extr.translation = (0.005520000122487545,-0.005100000184029341,-0.011739999987185001)
|
||
|
|
extrinsics[("Motion","Infrared_1")] = extr
|
||
|
|
extr = dds.extrinsics();
|
||
|
|
extr.rotation = (1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)
|
||
|
|
extr.translation = (-0.04434395954012871,-0.005100000184029341,-0.011739999987185001)
|
||
|
|
extrinsics[("Motion","Infrared_2")] = extr
|
||
|
|
extr = dds.extrinsics();
|
||
|
|
extr.rotation = (0.9999951720237732,-0.0004076171899214387,-0.00308464583940804,0.00040659401565790176,0.9999998807907104,-0.0003323106502648443,0.0030847808811813593,0.0003310548490844667,0.9999951720237732)
|
||
|
|
extr.translation = (0.015078714117407799,4.601718956109835e-06,0.00017121469136327505)
|
||
|
|
extrinsics[("Infrared_1","Color")] = extr
|
||
|
|
extr = dds.extrinsics();
|
||
|
|
extr.rotation = (1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)
|
||
|
|
extr.translation = (0.0,0.0,0.0)
|
||
|
|
extrinsics[("Infrared_1","Depth")] = extr
|
||
|
|
extr = dds.extrinsics();
|
||
|
|
extr.rotation = (1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)
|
||
|
|
extr.translation = (-0.005520000122487545,0.005100000184029341,0.011739999987185001)
|
||
|
|
extrinsics[("Infrared_1","Motion")] = extr
|
||
|
|
extr = dds.extrinsics();
|
||
|
|
extr.rotation = (1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)
|
||
|
|
extr.translation = (-0.04986396059393883,0.0,0.0)
|
||
|
|
extrinsics[("Infrared_1","Infrared_2")] = extr
|
||
|
|
extr = dds.extrinsics();
|
||
|
|
extr.rotation = (0.9999951720237732,-0.0004076171899214387,-0.00308464583940804,0.00040659401565790176,0.9999998807907104,-0.0003323106502648443,0.0030847808811813593,0.0003310548490844667,0.9999951720237732)
|
||
|
|
extr.translation = (0.06494243443012238,-1.5723688193247654e-05,1.7402038793079555e-05)
|
||
|
|
extrinsics[("Infrared_2","Color")] = extr
|
||
|
|
extr = dds.extrinsics();
|
||
|
|
extr.rotation = (1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)
|
||
|
|
extr.translation = (0.04986396059393883,0.0,0.0)
|
||
|
|
extrinsics[("Infrared_2","Depth")] = extr
|
||
|
|
extr = dds.extrinsics();
|
||
|
|
extr.rotation = (1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)
|
||
|
|
extr.translation = (0.04434395954012871,0.005100000184029341,0.011739999987185001)
|
||
|
|
extrinsics[("Infrared_2","Motion")] = extr
|
||
|
|
extr = dds.extrinsics();
|
||
|
|
extr.rotation = (1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)
|
||
|
|
extr.translation = (0.04986396059393883,0.0,0.0)
|
||
|
|
extrinsics[("Infrared_2","Infrared_1")] = extr
|
||
|
|
|
||
|
|
return extrinsics
|
||
|
|
|