when streaming depth dump intrinsics

bmegli / realsense-network-hardware-video-encoder

Realsense hardware encoded color/ir H.264 and color/ir/depth HEVC streaming

Mozilla Public License 2.0

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Closed bmegli closed 4 years ago

bmegli commented 4 years ago

Camera intrinsics are necessary to recast depth map to point cloud.

Retrieve them from device and print when streaming depth data.

bmegli commented 4 years ago

Sample output:

The camera intrinsics:
-ppx=421.353 ppy=240.93 fx=426.768 fy=426.768
-distortion model Brown Conrady [0,0,0,0]

bmegli commented 4 years ago

The distortion model is librealsense constant: RS2_DISTORTION_BROWN_CONRADY