{"action":"closed","issue":{"url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/1106","repository_url":"https://api.github.com/repos/IntelRealSense/librealsense","labels_url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/1106/labels{/name}","comments_url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/1106/comments","events_url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/1106/events","html_url":"https://github.com/IntelRealSense/librealsense/issues/1106","id":293395933,"number":1106,"title":"Python API request: stream_profile::register_extrinsics_to and projection util functions","user":{"login":"zhutq","id":1166360,"avatar_url":"https://avatars0.githubusercontent.com/u/1166360?v=4","gravatar_id":"","url":"https://api.github.com/users/zhutq","html_url":"https://github.com/zhutq","followers_url":"https://api.github.com/users/zhutq/followers","following_url":"https://api.github.com/users/zhutq/following{/other_user}","gists_url":"https://api.github.com/users/zhutq/gists{/gist_id}","starred_url":"https://api.github.com/users/zhutq/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/zhutq/subscriptions","organizations_url":"https://api.github.com/users/zhutq/orgs","repos_url":"https://api.github.com/users/zhutq/repos","events_url":"https://api.github.com/users/zhutq/events{/privacy}","received_events_url":"https://api.github.com/users/zhutq/received_events","type":"User","site_admin":false},"labels":[{"id":288064118,"url":"https://api.github.com/repos/IntelRealSense/librealsense/labels/enhancement","name":"enhancement","color":"84b6eb","default":true},{"id":737783632,"url":"https://api.github.com/repos/IntelRealSense/librealsense/labels/python","name":"python","color":"fbca04","default":false}],"state":"closed","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":5,"created_at":"2018-02-01T03:58:19Z","updated_at":"2018-02-08T23:42:46Z","closed_at":"2018-02-08T23:42:46Z","author_association":"NONE","body":"| Required Info                         |                                                                |\r\n|---------------------------------|------------------------------------------- |\r\n| Camera Model                       | SR300 | \r\n| Firmware Version                   | 3.21.0.0 | \r\n| Operating System & Version |   Ubuntu 16.04.3 LTS  | \r\n| Kernel Version (Linux Only)    |  4.4.0-112-generic  | \r\n| Platform                                 | PC |\r\n| SDK Version                            |  2.9.1 | \r\n\r\nI'm working on calibrating my SR300's extrinsics from color to depth.\r\nI can now successfully register my custom rotation matrix and translation vector in C++ with `stream_profile::register_extrinsics_to` and get a fairly good result.\r\nBut this API is not exposed to Python, and extrinsics in Python is not editable.\r\nIt's appreciated if it can be exposed to Python.\r\nAlso, `rs2_deproject_pixel_to_point`, `rs2_transform_point_to_point` and `rs2_project_point_to_pixel` can make calibrating and debugging in Python even easier.\r\nThank you very much!"}}
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