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Make the calibration utility more user friendly - based on modular-calibration #843

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Make the calibration utility more user friendly - based on modular-calibration #843

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186abae
Added WIP Image Align for visualization
saching13 Aug 9, 2022
5113b6b
Working calibration with SYnc
saching13 Aug 10, 2022
fcc4f4c
added board config files
saching13 Aug 10, 2022
e52e734
Updated the ar0234 res
saching13 Aug 15, 2022
562d331
Updated mono in json
saching13 Aug 15, 2022
d9105b1
Added Output Scale factor and removed the orientation check
saching13 Aug 15, 2022
48cdb67
Fixed the osf
saching13 Aug 15, 2022
f177b01
Fixed capture issue with different names
saching13 Aug 15, 2022
507ede9
updated links translation
saching13 Aug 16, 2022
46f8b1f
WIP structure and vertical Stereo calibration
saching13 Aug 17, 2022
03766f3
Fixed flashing issues
saching13 Aug 19, 2022
84dd899
updatec req condfitions
saching13 Aug 22, 2022
16f6e28
added exception msg
saching13 Aug 22, 2022
7b81117
removed try catch and writing board names
saching13 Aug 22, 2022
1b356df
adding rect data
saching13 Aug 22, 2022
64d5828
Updated rectification flash
saching13 Aug 22, 2022
c9bc18e
Removed comments
saching13 Aug 24, 2022
38e6102
Added rotation to polygons
saching13 Sep 8, 2022
861f9e3
Polygon flex (#789)
saching13 Sep 12, 2022
00acebb
Modified the board file
saching13 Sep 14, 2022
63b5adb
added debugs
saching13 Sep 15, 2022
7372329
tweaked intrinsics in use
saching13 Sep 17, 2022
085b4a6
iterative method added but commented
saching13 Sep 17, 2022
6d3964a
cleanedup image sizes and better ep errors
saching13 Sep 30, 2022
e959a06
adapt calib script to main depthai
daxoft Oct 8, 2022
1067cb2
Fixed config error
saching13 Oct 13, 2022
7091b7d
changed to features in calibration
saching13 Nov 5, 2022
aebdb17
adjust horizontal values
saching13 Nov 5, 2022
eb13e6f
Tuning calibration testing epipolar error
saching13 Nov 5, 2022
f98e1a2
oak-d-sr calibration
daxoft Nov 11, 2022
b60b7d4
Added settings GUI and camera auto detection in calibrate.py
njezersek Nov 11, 2022
b13295f
Merge remote-tracking branch 'origin/main' into modular-calibration
saching13 Nov 17, 2022
ac471ad
Added error for file
saching13 Nov 17, 2022
222135f
Merge branch 'modular-calibration' into daxoft/calib_impl
daxoft Nov 18, 2022
6ebc996
add hasAutoFocus check back
daxoft Nov 18, 2022
890ff34
Merge branch 'daxoft/calib_impl' into modular-calibration
njezersek Nov 18, 2022
2aed459
changed to fix Intrinsics
saching13 Nov 22, 2022
e46be35
Merge remote-tracking branch 'origin/modular-calibration' into modula…
saching13 Nov 22, 2022
f91b533
Merge remote-tracking branch 'origin/main' into modular-calibration
saching13 Dec 13, 2022
ed1542b
cleared old file
saching13 Dec 13, 2022
63d3b6f
Merge branch 'modular-calibration' into modular-calibration-settings-gui
njezersek Dec 20, 2022
75e7c20
Changed some labels and step sizes
njezersek Feb 16, 2023
b3e94ba
Added an exeption if the board file can't be found. Added an option f…
njezersek Feb 16, 2023
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2 changes: 1 addition & 1 deletion .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@ share/python-wheels/
MANIFEST
*.idea
# DepthAI-Specific
dataset/
dataset*
.fw_cache/
depthai.calib
mesh_left.calib
Expand Down
987 changes: 783 additions & 204 deletions calibrate.py
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1,308 changes: 700 additions & 608 deletions depthai_helpers/calibration_utils.py
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13 changes: 0 additions & 13 deletions resources/boards/ACME01.json
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This file was deleted.

56 changes: 56 additions & 0 deletions resources/boards/AR0234DEV.json
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@@ -0,0 +1,56 @@
{
"board_config":
{
"name": "AR0234DEV",
"revision": "R1M0E1",
"cameras":{
"CAM_C": {
"name": "right",
"hfov": 140,
"type": "color",
"extrinsics": {
"to_cam": "CAM_B",
"specTranslation": {
"x": -7.5,
"y": 0,
"z": 0
},
"rotation":{
"r": 0,
"p": 0,
"y": 0
}
}
},
"CAM_B": {
"name": "left",
"hfov": 140,
"type": "color",
"extrinsics": {
"to_cam": "CAM_A",
"specTranslation": {
"x": 0,
"y": -3.5,
"z": 0
},
"rotation":{
"r": 0,
"p": 0,
"y": 0
}
}
},
"CAM_A": {
"name": "below",
"hfov": 140,
"type": "color"
}

},
"stereo_config":{
"left_cam": "CAM_B",
"right_cam": "CAM_C"
}
}
}

53 changes: 47 additions & 6 deletions resources/boards/BW1097.json
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Original file line number Diff line number Diff line change
Expand Up @@ -3,11 +3,52 @@
{
"name": "OAK-D-CM3",
"revision": "R2M2E3",
"swap_left_and_right_cameras": true,
"left_fov_deg": 71.86,
"rgb_fov_deg": 68.7938,
"left_to_right_distance_cm": 9.0,
"left_to_rgb_distance_cm": 2.0
"cameras":{
"CAM_A": {
"name": "rgb",
"hfov": 68.7938,
"type": "color"
},
"CAM_B": {
"name": "left",
"hfov": 71.86,
"type": "mono",
"extrinsics": {
"to_cam": "CAM_C",
"specTranslation": {
"x": -9.0,
"y": 0,
"z": 0
},
"rotation":{
"r": 0,
"p": 0,
"y": 0
}
}
},
"CAM_C": {
"name": "right",
"hfov": 71.86,
"type": "mono",
"extrinsics": {
"to_cam": "CAM_A",
"specTranslation": {
"x": 7,
"y": 0,
"z": 0
},
"rotation":{
"r": 0,
"p": 0,
"y": 0
}
}
}
},
"stereo_config":{
"left_cam": "CAM_B",
"right_cam": "CAM_C"
}
}
}

53 changes: 48 additions & 5 deletions resources/boards/BW1098OBC.json
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Original file line number Diff line number Diff line change
Expand Up @@ -3,10 +3,53 @@
{
"name": "OAK-D",
"revision": "R1M0E1",
"swap_left_and_right_cameras": true,
"left_fov_deg": 71.86,
"rgb_fov_deg": 68.7938,
"left_to_right_distance_cm": 7.5,
"left_to_rgb_distance_cm": 3.75
"cameras":{
"CAM_A": {
"name": "rgb",
"hfov": 68.7938,
"type": "color"
},
"CAM_B": {
"name": "left",
"hfov": 71.86,
"type": "mono",
"extrinsics": {
"to_cam": "CAM_C",
"specTranslation": {
"x": -7.5,
"y": 0,
"z": 0
},
"rotation":{
"r": 0,
"p": 0,
"y": 0
}
}
},
"CAM_C": {
"name": "right",
"hfov": 71.86,
"type": "mono",
"extrinsics": {
"to_cam": "CAM_A",
"specTranslation": {
"x": 3.75,
"y": 0,
"z": 0
},
"rotation":{
"r": 0,
"p": 0,
"y": 0
}
}
}
},
"stereo_config":{
"left_cam": "CAM_B",
"right_cam": "CAM_C"
}
}
}

55 changes: 55 additions & 0 deletions resources/boards/DM1092.json
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Original file line number Diff line number Diff line change
@@ -0,0 +1,55 @@
{
"board_config":
{
"name": "OAK-D-IoT-40",
"revision": "R2M2E2",
"cameras":{
"CAM_A": {
"name": "rgb",
"hfov": 68.7938,
"type": "color"
},
"CAM_B": {
"name": "left",
"hfov": 71.86,
"type": "mono",
"extrinsics": {
"to_cam": "CAM_C",
"specTranslation": {
"x": -4,
"y": 0,
"z": 0
},
"rotation":{
"r": 0,
"p": 0,
"y": 0
}
}
},
"CAM_C": {
"name": "right",
"hfov": 71.86,
"type": "mono",
"extrinsics": {
"to_cam": "CAM_A",
"specTranslation": {
"x": 3,
"y": 0,
"z": 0
},
"rotation":{
"r": 0,
"p": 0,
"y": 0
}
}
}
},
"stereo_config":{
"left_cam": "CAM_B",
"right_cam": "CAM_C"
}
}
}

54 changes: 54 additions & 0 deletions resources/boards/DM1097.json
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Original file line number Diff line number Diff line change
@@ -0,0 +1,54 @@
{
"board_config":
{
"name": "OAK-D-CM4",
"revision": "R2M0E2",
"cameras":{
"CAM_A": {
"name": "rgb",
"hfov": 68.7938,
"type": "color"
},
"CAM_B": {
"name": "left",
"hfov": 71.86,
"type": "mono",
"extrinsics": {
"to_cam": "CAM_C",
"specTranslation": {
"x": -9.0,
"y": 0,
"z": 0
},
"rotation":{
"r": 0,
"p": 0,
"y": 0
}
}
},
"CAM_C": {
"name": "right",
"hfov": 71.86,
"type": "mono",
"extrinsics": {
"to_cam": "CAM_A",
"specTranslation": {
"x": 7,
"y": 0,
"z": 0
},
"rotation":{
"r": 0,
"p": 0,
"y": 0
}
}
}
},
"stereo_config":{
"left_cam": "CAM_B",
"right_cam": "CAM_C"
}
}
}
55 changes: 55 additions & 0 deletions resources/boards/DM1098OAKD_WIFI.json
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Original file line number Diff line number Diff line change
@@ -0,0 +1,55 @@
{
"board_config":
{
"name": "OAK-D-IoT-75",
"revision": "R0M0E0",
"cameras":{
"CAM_A": {
"name": "rgb",
"hfov": 68.7938,
"type": "color"
},
"CAM_B": {
"name": "left",
"hfov": 71.86,
"type": "mono",
"extrinsics": {
"to_cam": "CAM_C",
"specTranslation": {
"x": -7.5,
"y": 0,
"z": 0
},
"rotation":{
"r": 0,
"p": 0,
"y": 0
}
}
},
"CAM_C": {
"name": "right",
"hfov": 71.86,
"type": "mono",
"extrinsics": {
"to_cam": "CAM_A",
"specTranslation": {
"x": 3.75,
"y": 0,
"z": 0
},
"rotation":{
"r": 0,
"p": 0,
"y": 0
}
}
}
},
"stereo_config":{
"left_cam": "CAM_B",
"right_cam": "CAM_C"
}
}
}

12 changes: 0 additions & 12 deletions resources/boards/DM2097.json
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This file was deleted.

14 changes: 14 additions & 0 deletions resources/boards/OAK-1-LITE-W.json
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Original file line number Diff line number Diff line change
@@ -0,0 +1,14 @@
{
"board_config":
{
"name": "OAK-1-Lite-W",
"revision": "R3M1E2",
"cameras":{
"CAM_A": {
"name": "rgb",
"hfov": 108.0,
"type": "color"
}
}
}
}
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