camera.utils.rs_utils Namespace Reference

Functions
def	rs_extrin_to_M (rs_extrin)
def	rs_intrin_to_M (rs_intrin)

Detailed Description

  @brief:     The utility functions for the realsense sensors

  @author:    Yiye Chen,          yychne2019@gatech.edu
  @date:      [created] 10/07/2021

Function Documentation

rs_extrin_to_M()

def camera.utils.rs_utils.rs_extrin_to_M

(

rs_extrin

)

Convert class <'pyrealsense2.extrinsics'> instance into a matrix, s.t.
M = [R, d | 0, 1] 
The extrinsics class stores rotation matrix as a linear array per
[documentation](https://intelrealsense.github.io/librealsense/python_docs/_generated/pyrealsense2.extrinsics.html?highlight=extrin#pyrealsense2.extrinsics).

@param[out]     M       4-by-4 SE(3) matrix. Last row is [0, 0, 0, 1]

rs_intrin_to_M()

def camera.utils.rs_utils.rs_intrin_to_M

(

rs_intrin

)

Convert class <'pyrealsense2.intrinsics'> instance into a matrix, s.t.
[i * d, j * d, d] = M * [x, y, d]  
Intrinsic class structure is described [here](https://intelrealsense.github.io/librealsense/python_docs/_generated/pyrealsense2.intrinsics.html?highlight=intrinsic)
as duplicated from the [C struct version](https://github.com/IntelRealSense/librealsense/blob/5e73f7bb906a3cbec8ae43e888f182cc56c18692/include/librealsense2/h/rs_types.h#L55)

@param[out]     M       3-by-3 camera intrinsic matrix. Last row is [0, 0, 1]