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DDS scaled intrinsics #12788

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merged 16 commits into from
Apr 3, 2024
Merged

DDS scaled intrinsics #12788

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18488c6
add missing type() to json_ref
maloel Mar 11, 2024
d58fcf1
fix 5e distortion model; add d500_calibration_distortion enum
maloel Mar 13, 2024
4ff11c4
add pyrealdds stream-server::get-intrinsics
maloel Mar 19, 2024
ba35529
remove old dds test code and rename dds.py to librs.py
maloel Mar 20, 2024
663afb5
make format-conversion computation lazy (i.e., cached)
maloel Mar 20, 2024
899cb03
add d400_color::get_color_format()
maloel Mar 20, 2024
1abe87e
add d400_device::get_ir_format()
maloel Mar 20, 2024
af9b32a
fix D400 with proper color/IR formats for different format-conversions
maloel Mar 20, 2024
84e8ef9
add float3 to-/from-json
maloel Mar 20, 2024
939dbbd
add dds intrinsics topic names
maloel Mar 20, 2024
ffccb79
update DDS intrinsics: serialization, scaled-to, etc
maloel Mar 20, 2024
004d77e
device-server writes single intrinsics as object
maloel Mar 20, 2024
51a8808
device can read single intrinsics as object
maloel Mar 20, 2024
9a25c34
scaling of single instrinsics in librs
maloel Mar 20, 2024
54334b9
update intrisics in unit-tests etc
maloel Mar 20, 2024
0ae3078
add scaled-intrinsics test
maloel Mar 20, 2024
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34 changes: 28 additions & 6 deletions tools/dds/dds-adapter/lrs-device-controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,18 +53,40 @@ using tools::lrs_device_controller;
break


realdds::distortion_model to_realdds( rs2_distortion model )
{
switch( model )
{
case RS2_DISTORTION_BROWN_CONRADY: return realdds::distortion_model::brown;
case RS2_DISTORTION_NONE: return realdds::distortion_model::none;
case RS2_DISTORTION_INVERSE_BROWN_CONRADY: return realdds::distortion_model::inverse_brown;
case RS2_DISTORTION_MODIFIED_BROWN_CONRADY: return realdds::distortion_model::modified_brown;

default:
throw std::runtime_error( "unexpected rs2 distortion model: " + std::string( rs2_distortion_to_string( model ) ) );
}
}

realdds::video_intrinsics to_realdds( const rs2_intrinsics & intr )
{
realdds::video_intrinsics ret;

ret.width = intr.width;
ret.height = intr.height;
ret.principal_point_x = intr.ppx;
ret.principal_point_y = intr.ppy;
ret.focal_lenght_x = intr.fx;
ret.focal_lenght_y = intr.fy;
ret.distortion_model = intr.model;
memcpy( ret.distortion_coeffs.data(), intr.coeffs, sizeof( ret.distortion_coeffs ) );
ret.principal_point.x = intr.ppx;
ret.principal_point.y = intr.ppy;
ret.focal_length.x = intr.fx;
ret.focal_length.y = intr.fy;
ret.distortion.model = realdds::distortion_model::none;
for( auto coeff : intr.coeffs )
{
if( coeff != 0.f )
{
ret.distortion.model = to_realdds( intr.model );
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memcpy( ret.distortion.coeffs.data(), intr.coeffs, sizeof( ret.distortion.coeffs ) );
break;
}
}

return ret;
}
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156 changes: 78 additions & 78 deletions unit-tests/dds/d405.py
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Expand Up @@ -271,67 +271,67 @@ def color_stream_intrinsics():
intr = dds.video_intrinsics();
intr.width = 424
intr.height = 240
intr.principal_point_x = 210.73512268066406
intr.principal_point_y = 118.6335678100586
intr.focal_lenght_x = 215.58554077148438
intr.focal_lenght_y = 214.98973083496094
intr.distortion_model = 2
intr.distortion_coeffs = [-0.05454780161380768,0.056755296885967255,0.0010132350726053119,0.0003381881397217512,-0.01852494664490223]
intr.principal_point.x = 210.73512268066406
intr.principal_point.y = 118.6335678100586
intr.focal_length.x = 215.58554077148438
intr.focal_length.y = 214.98973083496094
intr.distortion.model = dds.distortion_model.inverse_brown
intr.distortion.coeffs = [-0.05454780161380768,0.056755296885967255,0.0010132350726053119,0.0003381881397217512,-0.01852494664490223]
intrinsics.append( intr )

intr = dds.video_intrinsics();
intr.width = 480
intr.height = 270
intr.principal_point_x = 238.57701110839844
intr.principal_point_y = 133.4627685546875
intr.focal_lenght_x = 242.53375244140625
intr.focal_lenght_y = 241.86343383789063
intr.distortion_model = 2
intr.distortion_coeffs = [-0.05454780161380768,0.056755296885967255,0.0010132350726053119,0.0003381881397217512,-0.01852494664490223]
intr.principal_point.x = 238.57701110839844
intr.principal_point.y = 133.4627685546875
intr.focal_length.x = 242.53375244140625
intr.focal_length.y = 241.86343383789063
intr.distortion.model = dds.distortion_model.inverse_brown
intr.distortion.coeffs = [-0.05454780161380768,0.056755296885967255,0.0010132350726053119,0.0003381881397217512,-0.01852494664490223]
intrinsics.append( intr )

intr = dds.video_intrinsics();
intr.width = 640
intr.height = 480
intr.principal_point_x = 318.1026916503906
intr.principal_point_y = 177.95034790039063
intr.focal_lenght_x = 323.3783264160156
intr.focal_lenght_y = 322.4845886230469
intr.distortion_model = 2
intr.distortion_coeffs = [-0.05454780161380768,0.056755296885967255,0.0010132350726053119,0.0003381881397217512,-0.01852494664490223]
intr.principal_point.x = 318.1026916503906
intr.principal_point.y = 177.95034790039063
intr.focal_length.x = 323.3783264160156
intr.focal_length.y = 322.4845886230469
intr.distortion.model = dds.distortion_model.inverse_brown
intr.distortion.coeffs = [-0.05454780161380768,0.056755296885967255,0.0010132350726053119,0.0003381881397217512,-0.01852494664490223]
intrinsics.append( intr )

intr = dds.video_intrinsics();
intr.width = 640
intr.height = 480
intr.principal_point_x = 317.4702453613281
intr.principal_point_y = 237.2671356201172
intr.focal_lenght_x = 431.1711120605469
intr.focal_lenght_y = 429.9794616699219
intr.distortion_model = 2
intr.distortion_coeffs = [-0.05454780161380768,0.056755296885967255,0.0010132350726053119,0.0003381881397217512,-0.01852494664490223]
intr.principal_point.x = 317.4702453613281
intr.principal_point.y = 237.2671356201172
intr.focal_length.x = 431.1711120605469
intr.focal_length.y = 429.9794616699219
intr.distortion.model = dds.distortion_model.inverse_brown
intr.distortion.coeffs = [-0.05454780161380768,0.056755296885967255,0.0010132350726053119,0.0003381881397217512,-0.01852494664490223]
intrinsics.append( intr )

intr = dds.video_intrinsics();
intr.width = 848
intr.height = 480
intr.principal_point_x = 421.4702453613281
intr.principal_point_y = 237.2671356201172
intr.focal_lenght_x = 431.17108154296875
intr.focal_lenght_y = 429.9794616699219
intr.distortion_model = 2
intr.distortion_coeffs = [-0.05454780161380768,0.056755296885967255,0.0010132350726053119,0.0003381881397217512,-0.01852494664490223]
intr.principal_point.x = 421.4702453613281
intr.principal_point.y = 237.2671356201172
intr.focal_length.x = 431.17108154296875
intr.focal_length.y = 429.9794616699219
intr.distortion.model = dds.distortion_model.inverse_brown
intr.distortion.coeffs = [-0.05454780161380768,0.056755296885967255,0.0010132350726053119,0.0003381881397217512,-0.01852494664490223]
intrinsics.append( intr )

intr = dds.video_intrinsics();
intr.width = 1280
intr.height = 720
intr.principal_point_x = 636.2053833007813
intr.principal_point_y = 355.90069580078125
intr.focal_lenght_x = 646.7566528320313
intr.focal_lenght_y = 644.9691772460938
intr.distortion_model = 2
intr.distortion_coeffs = [-0.05454780161380768,0.056755296885967255,0.0010132350726053119,0.0003381881397217512,-0.01852494664490223]
intr.principal_point.x = 636.2053833007813
intr.principal_point.y = 355.90069580078125
intr.focal_length.x = 646.7566528320313
intr.focal_length.y = 644.9691772460938
intr.distortion.model = dds.distortion_model.inverse_brown
intr.distortion.coeffs = [-0.05454780161380768,0.056755296885967255,0.0010132350726053119,0.0003381881397217512,-0.01852494664490223]
intrinsics.append( intr )

return set( intrinsics )
Expand All @@ -343,67 +343,67 @@ def depth_ir_common_intrinsics():
intr = dds.video_intrinsics();
intr.width = 424
intr.height = 240
intr.principal_point_x = 214.33639526367188
intr.principal_point_y = 119.0371322631836
intr.focal_lenght_x = 210.80271911621094
intr.focal_lenght_y = 210.80271911621094
intr.distortion_model = 4
intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
intr.principal_point.x = 214.33639526367188
intr.principal_point.y = 119.0371322631836
intr.focal_length.x = 210.80271911621094
intr.focal_length.y = 210.80271911621094
intr.distortion.model = dds.distortion_model.brown
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 = 242.6449737548828
intr.principal_point_y = 133.9099578857422
intr.focal_lenght_x = 238.64459228515625
intr.focal_lenght_y = 238.64459228515625
intr.distortion_model = 4
intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
intr.principal_point.x = 242.6449737548828
intr.principal_point.y = 133.9099578857422
intr.focal_length.x = 238.64459228515625
intr.focal_length.y = 238.64459228515625
intr.distortion.model = dds.distortion_model.brown
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 = 323.5266418457031
intr.principal_point_y = 178.54661560058594
intr.focal_lenght_x = 318.1927795410156
intr.focal_lenght_y = 318.1927795410156
intr.distortion_model = 4
intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
intr.principal_point.x = 323.5266418457031
intr.principal_point.y = 178.54661560058594
intr.focal_length.x = 318.1927795410156
intr.focal_length.y = 318.1927795410156
intr.distortion.model = dds.distortion_model.brown
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 = 324.21624755859375
intr.principal_point_y = 238.26242065429688
intr.focal_lenght_x = 380.41363525390625
intr.focal_lenght_y = 380.41363525390625
intr.distortion_model = 4
intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
intr.principal_point.x = 324.21624755859375
intr.principal_point.y = 238.26242065429688
intr.focal_length.x = 380.41363525390625
intr.focal_length.y = 380.41363525390625
intr.distortion.model = dds.distortion_model.brown
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 = 428.67279052734375
intr.principal_point_y = 238.0742645263672
intr.focal_lenght_x = 421.6054382324219
intr.focal_lenght_y = 421.6054382324219
intr.distortion_model = 4
intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
intr.principal_point.x = 428.67279052734375
intr.principal_point.y = 238.0742645263672
intr.focal_length.x = 421.6054382324219
intr.focal_length.y = 421.6054382324219
intr.distortion.model = dds.distortion_model.brown
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 = 647.0532836914063
intr.principal_point_y = 357.0932312011719
intr.focal_lenght_x = 636.3855590820313
intr.focal_lenght_y = 636.3855590820313
intr.distortion_model = 4
intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
intr.principal_point.x = 647.0532836914063
intr.principal_point.y = 357.0932312011719
intr.focal_length.x = 636.3855590820313
intr.focal_length.y = 636.3855590820313
intr.distortion.model = dds.distortion_model.brown
intr.distortion.coeffs = [0.0,0.0,0.0,0.0,0.0]
intrinsics.append( intr )

return intrinsics
Expand All @@ -415,12 +415,12 @@ def depth_stream_intrinsics():
intr = dds.video_intrinsics();
intr.width = 256
intr.height = 144
intr.principal_point_x = 135.05328369140625
intr.principal_point_y = 69.09323120117188
intr.focal_lenght_x = 636.3855590820313
intr.focal_lenght_y = 636.3855590820313
intr.distortion_model = 4
intr.distortion_coeffs = [0.0,0.0,0.0,0.0,0.0]
intr.principal_point.x = 135.05328369140625
intr.principal_point.y = 69.09323120117188
intr.focal_length.x = 636.3855590820313
intr.focal_length.y = 636.3855590820313
intr.distortion.model = dds.distortion_model.brown
intr.distortion.coeffs = [0.0,0.0,0.0,0.0,0.0]
intrinsics.append( intr )

intrinsics.extend( depth_ir_common_intrinsics() )
Expand Down
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