add code about resolution and field of view

dora-rs · Dec 3, 2024 · f44745a · f44745a
1 parent 3013eab
commit f44745a
Showing 1 changed file with 8 additions and 3 deletions.
diff --git a/node-hub/dora-pyrealsense/dora_pyrealsense/main.py b/node-hub/dora-pyrealsense/dora_pyrealsense/main.py
@@ -43,7 +43,10 @@ def main():
 
     depth_sensor = profile.get_device().first_depth_sensor()
     depth_scale = depth_sensor.get_depth_scale()
-
+    rgb_profile = profile.get_stream(rs.stream.color)
+    depth_profile = profile.get_stream(rs.stream.depth)
+    rgb_intr = rgb_profile.as_video_stream_profile().get_intrinsics()
+    # rgb_intr = depth_profile.get_extrinsics_to(rgb_profile)
     node = Node()
     start_time = time.time()
 
@@ -107,10 +110,12 @@ def main():
                         continue
 
                 storage = pa.array(frame.ravel())
-
+                # metadata["resolution"] = [rgb_intr.width, rgb_intr.height]
+                # metadata["focal_length"] = [rgb_intr.fx, rgb_intr.fy]
+                # metadata["principal_point"] = [rgb_intr.ppx, rgb_intr.ppy]
                 node.send_output("image", storage, metadata)
                 node.send_output(
-                    "depth_image", pa.array(scaled_depth_image.ravel()), metadata
+                    "depth", pa.array(scaled_depth_image.ravel()), metadata
                 )
 
         elif event_type == "ERROR":