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Rae files and map TVCalibrationSettings to sockets instead of camera names #50

Merged
merged 18 commits into from
Oct 2, 2023
Merged

Rae files and map TVCalibrationSettings to sockets instead of camera names #50

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cc1f41e
Adding IMU flashing in boards
MaticTonin Aug 14, 2023
4ed4357
Removing some OAK-D-PRO changes
MaticTonin Aug 14, 2023
05080e0
Merge branch 'main' into IMU_RAE
MaticTonin Aug 14, 2023
c0fa278
Removing ink file
MaticTonin Aug 14, 2023
4ee1e8f
Change in RAE board
MaticTonin Aug 14, 2023
a19b66d
Added rotation IMU for RAE
MaticTonin Aug 15, 2023
f829391
Mistake name TOF in RAE
MaticTonin Aug 15, 2023
6f13131
set manual exposure
zrezke Aug 15, 2023
d6d930d
No manual exposure for rgb
zrezke Aug 15, 2023
29f8e4f
forgot that json doesn't have comments
zrezke Aug 15, 2023
e6fd998
More iso on rgb
zrezke Aug 15, 2023
0944f96
map camera_settings to board socket instead of camera name
zrezke Aug 15, 2023
d881ca2
IMU-change to left cam
MaticTonin Aug 15, 2023
12cc0ff
IMU-change to left cam
MaticTonin Aug 15, 2023
029e5bc
Merge branch 'IMU_RAE' of github.com:luxonis/depthai-boards into rae-kt
zrezke Aug 15, 2023
2995c13
Try with more exposure time and less iso
zrezke Aug 16, 2023
2658ac9
Revert back to previous iso and exp
zrezke Aug 16, 2023
3134b4a
Update imu extrinsics
zrezke Aug 17, 2023
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6 changes: 3 additions & 3 deletions batch/oak_d_lr.json
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Original file line number Diff line number Diff line change
Expand Up @@ -8,9 +8,9 @@
"imu": true,
"tv_calibration": {
"camera_settings": {
"left": {"isp_scale": [2,3]},
"right": {"isp_scale": [2,3]},
"center": {"isp_scale": [2,3]}
"CAM_B": {"isp_scale": [2,3]},
"CAM_C": {"isp_scale": [2,3]},
"CAM_A": {"isp_scale": [2,3]}
}
}
},
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21 changes: 21 additions & 0 deletions batch/rae.json
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Original file line number Diff line number Diff line change
Expand Up @@ -5,10 +5,31 @@
"options": {
"platform": "rvc3",
"bootloader": "poe",
"imu": true,
"environment": {
"flashing": "rvc3_develop",
"testing": "rvc3_develop",
"calibration": "rvc3_develop"
},
"tv_calibration": {
"camera_settings": {
"CAM_C": {
"exposure": [2200, 600]
},
"CAM_B": {
"exposure": [2200, 600]
},
"CAM_A": {
"exposure": [2200, 1000]
},
"CAM_D": {
"exposure": [2200, 1000]
},
"CAM_E":
{
"exposure": [2200, 1000]
}
}
}
},
"variants": [
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19 changes: 17 additions & 2 deletions boards/RAE-A-B-C.json
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
{
"board_config":
{
"name": "TOF-FFC",
"name": "RAE",
"revision": "R0M0E0",
"cameras":{
"CAM_A": {
Expand Down Expand Up @@ -36,10 +36,25 @@
}

},

"stereo_config":{
"left_cam": "CAM_C",
"right_cam": "CAM_B"
},
"imuExtrinsics":
{ "sensorName" : "BNO086",
"extrinsics": {
"to_cam": "CAM_C",
"specTranslation": {
"x": -1.51,
"y": 0,
"z": -7.3
},
"rotation":{
"r": 270,
"p": 180,
"y": 0
}
}
}
}
}
7 changes: 6 additions & 1 deletion boards_reader.py
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@ class CameraSettings(BaseModel):

class TVCalibrationSettings(BaseModel):
camera_settings: Dict[str, CameraSettings] = {}
""" Dictionary with camera names as keys and CameraSettings as values. Used to set
""" Dictionary with camera sockets as keys and CameraSettings as values. Used to set
camera settings (sharpness, exposure, ...) for TV calibration. """

n_charuco_markers_per_row: int = 19
Expand Down Expand Up @@ -115,9 +115,14 @@ class StereoConfig(BaseModel):
left_cam: str
right_cam: str

class ImuExtrinsics(BaseModel):
sensorName: str
extrinsics: Optional[Extrinsics] = None

class BoardConfig(BaseModel):
cameras: Dict[str, CameraInfo]
stereo_config: Optional[StereoConfig] = None
imuExtrinsics: Optional[ImuExtrinsics] = None

class VariantConfig(BaseModel):
id: str
Expand Down