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DDS scaled intrinsics #12788

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Merged
merged 16 commits into from
Apr 3, 2024
Merged

DDS scaled intrinsics #12788

merged 16 commits into from
Apr 3, 2024

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@maloel
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@maloel maloel commented Mar 24, 2024 •
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The D400 has all resolutions predefined on camera and retrieved via RECPARAMSGET. But sometimes we want a single 'nominal' resolution intrinsics (focal length, principal point) that gets scaled to all other resolutions dynamically.

  • dds intrinsics serialize as an object now; fixed member names; added JSON serialization of float3
  • providing only a single resolution in the intrinsics set will now make it scalable (in libRS)
  • add unit-test

Also:

Tracked on [RSDEV-1868]

maloel added 16 commits March 20, 2024 13:04
@maloel
add missing type() to json_ref
18488c6
@maloel
fix 5e distortion model; add d500_calibration_distortion enum
d58fcf1
@maloel
add pyrealdds stream-server::get-intrinsics
4ff11c4
@maloel
remove old dds test code and rename dds.py to librs.py
ba35529
@maloel
make format-conversion computation lazy (i.e., cached)
663afb5
@maloel
add d400_color::get_color_format()
899cb03
@maloel
add d400_device::get_ir_format()
1abe87e
@maloel
fix D400 with proper color/IR formats for different format-conversions
af9b32a
@maloel
add float3 to-/from-json
84e8ef9
@maloel
add dds intrinsics topic names
939dbbd
@maloel
update DDS intrinsics: serialization, scaled-to, etc
ffccb79
@maloel
device-server writes single intrinsics as object
004d77e
@maloel
device can read single intrinsics as object
51a8808
@maloel
scaling of single instrinsics in librs
9a25c34
@maloel
update intrisics in unit-tests etc
54334b9
@maloel
add scaled-intrinsics test
0ae3078
@maloel maloel requested a review from OhadMeir March 24, 2024 06:20
OhadMeir
OhadMeir reviewed Mar 24, 2024
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OhadMeir
OhadMeir reviewed Mar 24, 2024
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OhadMeir reviewed Apr 3, 2024
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@maloel maloel merged commit 29ce06f into IntelRealSense:development Apr 3, 2024
@maloel maloel deleted the intrinsics branch April 3, 2024 07:59
@maloel maloel mentioned this pull request Apr 3, 2024
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@OhadMeir OhadMeir OhadMeir approved these changes

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@maloel @OhadMeir