realsense_scan_profiles

Intel RealSense scan profile utilities.

robotblockset.cameras.realsense_scan_profiles.calculate_fov(width: int, height: int, fx: float, fy: float) → Tuple[float, float][source]

Compute horizontal and vertical field-of-view angles in degrees.

Parameters:

width (int) – Image width in pixels.
height (int) – Image height in pixels.
fx (float) – Focal length in x direction (pixels).
fy (float) – Focal length in y direction (pixels).

Returns:

Horizontal and vertical FoV in degrees.

Return type:

tuple[float, float]

Raises:

ValueError – If the dimensions or focal lengths are not positive and finite.

robotblockset.cameras.realsense_scan_profiles.scan_profiles(stream_profiles: Sequence[pyrealsense2.stream_profile]) → Tuple[Dict[Tuple[int, int], List[int]], Dict[Tuple[int, int], Tuple[float, float]]][source]

Scan stream profiles and collect supported resolution/FPS/FoV values.

Parameters:: stream_profiles (List[rs.stream_profile]) – RealSense stream profiles to inspect.
Returns:: Two mappings: supported FPS values per resolution and FoV per resolution.
Return type:: tuple[dict[tuple[int, int], list[int]], dict[tuple[int, int], tuple[float, float]]]

robotblockset.cameras.realsense_scan_profiles.print_profile_info(resolution_fps_combinations: Dict[Tuple[int, int], List[int]], resolution_fov_combinations: Dict[Tuple[int, int], Tuple[float, float]]) → None[source]

Print available frame rates and FoV grouped by resolution.

Parameters:

resolution_fps_combinations (Dict[Tuple[int, int], List[float]]) – Supported FPS values per resolution.
resolution_fov_combinations (Dict[Tuple[int, int], Tuple[float, float]]) – Horizontal and vertical FoV per resolution.

Return type:

None

robotblockset.cameras.realsense_scan_profiles.check_aligned_depth_resolutions(device_serial: str, color_framerates: Dict[Tuple[int, int], List[int]], depth_framerates: Dict[Tuple[int, int], List[int]]) → None[source]: Check depth-to-color alignment for each supported resolution pair.

robotblockset.cameras.realsense_scan_profiles.main() → int[source]: Scan the first connected RealSense device and print its stream profiles.

Functions

`calculate_fov`(width, height, fx, fy)	Compute horizontal and vertical field-of-view angles in degrees.
`check_aligned_depth_resolutions`(...)	Check depth-to-color alignment for each supported resolution pair.
`main`()	Scan the first connected RealSense device and print its stream profiles.
`print_profile_info`(...)	Print available frame rates and FoV grouped by resolution.
`scan_profiles`(stream_profiles)	Scan stream profiles and collect supported resolution/FPS/FoV values.