#include <CalibrationHandler.hpp>

Public Member Functions
	CalibrationHandler ()=default

	CalibrationHandler (dai::Path calibrationDataPath, dai::Path boardConfigPath)

	CalibrationHandler (dai::Path eepromDataPath)

	CalibrationHandler (EepromData eepromData)

nlohmann::json	eepromToJson () const

bool	eepromToJsonFile (dai::Path destPath) const

float	getBaselineDistance (CameraBoardSocket cam1=CameraBoardSocket::CAM_C, CameraBoardSocket cam2=CameraBoardSocket::CAM_B, bool useSpecTranslation=true) const

std::vector< std::vector< float > >	getCameraExtrinsics (CameraBoardSocket srcCamera, CameraBoardSocket dstCamera, bool useSpecTranslation=false) const

std::vector< std::vector< float > >	getCameraIntrinsics (CameraBoardSocket cameraId, int resizeWidth=-1, int resizeHeight=-1, Point2f topLeftPixelId=Point2f(), Point2f bottomRightPixelId=Point2f(), bool keepAspectRatio=true) const

std::vector< std::vector< float > >	getCameraIntrinsics (CameraBoardSocket cameraId, Size2f destShape, Point2f topLeftPixelId=Point2f(), Point2f bottomRightPixelId=Point2f(), bool keepAspectRatio=true) const

std::vector< std::vector< float > >	getCameraIntrinsics (CameraBoardSocket cameraId, std::tuple< int, int > destShape, Point2f topLeftPixelId=Point2f(), Point2f bottomRightPixelId=Point2f(), bool keepAspectRatio=true) const

std::vector< std::vector< float > >	getCameraToImuExtrinsics (CameraBoardSocket cameraId, bool useSpecTranslation=false) const

std::vector< float >	getCameraTranslationVector (CameraBoardSocket srcCamera, CameraBoardSocket dstCamera, bool useSpecTranslation=true) const

std::tuple< std::vector< std::vector< float > >, int, int >	getDefaultIntrinsics (CameraBoardSocket cameraId) const

std::vector< float >	getDistortionCoefficients (CameraBoardSocket cameraId) const

CameraModel	getDistortionModel (CameraBoardSocket cameraId) const

dai::EepromData	getEepromData () const

float	getFov (CameraBoardSocket cameraId, bool useSpec=true) const

std::vector< std::vector< float > >	getImuToCameraExtrinsics (CameraBoardSocket cameraId, bool useSpecTranslation=false) const

uint8_t	getLensPosition (CameraBoardSocket cameraId) const

dai::CameraBoardSocket	getStereoLeftCameraId () const

std::vector< std::vector< float > >	getStereoLeftRectificationRotation () const

dai::CameraBoardSocket	getStereoRightCameraId () const

std::vector< std::vector< float > >	getStereoRightRectificationRotation () const

void	setBoardInfo (std::string boardName, std::string boardRev)

void	setBoardInfo (std::string deviceName, std::string productName, std::string boardName, std::string boardRev, std::string boardConf, std::string hardwareConf, std::string batchName, uint64_t batchTime, uint32_t boardOptions, std::string boardCustom="")

void	setBoardInfo (std::string productName, std::string boardName, std::string boardRev, std::string boardConf, std::string hardwareConf, std::string batchName, uint64_t batchTime, uint32_t boardOptions, std::string boardCustom="")

void	setCameraExtrinsics (CameraBoardSocket srcCameraId, CameraBoardSocket destCameraId, std::vector< std::vector< float >> rotationMatrix, std::vector< float > translation, std::vector< float > specTranslation={0, 0, 0})

void	setCameraIntrinsics (CameraBoardSocket cameraId, std::vector< std::vector< float >> intrinsics, int width, int height)

void	setCameraIntrinsics (CameraBoardSocket cameraId, std::vector< std::vector< float >> intrinsics, Size2f frameSize)

void	setCameraIntrinsics (CameraBoardSocket cameraId, std::vector< std::vector< float >> intrinsics, std::tuple< int, int > frameSize)

void	setCameraType (CameraBoardSocket cameraId, CameraModel cameraModel)

void	setDeviceName (std::string deviceName)

void	setDistortionCoefficients (CameraBoardSocket cameraId, std::vector< float > distortionCoefficients)

void	setFov (CameraBoardSocket cameraId, float hfov)

void	setImuExtrinsics (CameraBoardSocket destCameraId, std::vector< std::vector< float >> rotationMatrix, std::vector< float > translation, std::vector< float > specTranslation={0, 0, 0})

void	setLensPosition (CameraBoardSocket cameraId, uint8_t lensPosition)

void	setProductName (std::string productName)

void	setStereoLeft (CameraBoardSocket cameraId, std::vector< std::vector< float >> rectifiedRotation)

void	setStereoRight (CameraBoardSocket cameraId, std::vector< std::vector< float >> rectifiedRotation)

bool	validateCameraArray () const

Static Public Member Functions
static CalibrationHandler	fromJson (nlohmann::json eepromDataJson)

Private Member Functions
bool	checkExtrinsicsLink (CameraBoardSocket srcCamera, CameraBoardSocket dstCamera) const

bool	checkSrcLinks (CameraBoardSocket headSocket) const

std::vector< std::vector< float > >	computeExtrinsicMatrix (CameraBoardSocket srcCamera, CameraBoardSocket dstCamera, bool useSpecTranslation=false) const

Private Attributes
dai::EepromData	eepromData

Detailed Description

CalibrationHandler is an interface to read/load/write structured calibration and device data. The following fields are protected and aren't allowed to be overridden by default:

boardName
boardRev
boardConf
hardwareConf
batchName
batchTime
boardOptions
productName

Definition at line 24 of file CalibrationHandler.hpp.

Constructor & Destructor Documentation

◆ CalibrationHandler() [1/4]

dai::CalibrationHandler::CalibrationHandler ( )

default

◆ CalibrationHandler() [2/4]

dai::CalibrationHandler::CalibrationHandler ( dai::Path eepromDataPath )

explicit

Construct a new Calibration Handler object using the eeprom json file created from calibration procedure.

Parameters

eepromDataPath takes the full path to the json file containing the calibration and device info.

Definition at line 52 of file CalibrationHandler.cpp.

◆ CalibrationHandler() [3/4]

dai::CalibrationHandler::CalibrationHandler	(	dai::Path	calibrationDataPath,
		dai::Path	boardConfigPath
	)

Construct a new Calibration Handler object using the board config json file and .calib binary files created using gen1 calibration.

Parameters

calibrationDataPath	Full Path to the .calib binary file from the gen1 calibration. (Supports only Version 5)
boardConfigPath	Full Path to the board config json file containing device information.

Definition at line 71 of file CalibrationHandler.cpp.

◆ CalibrationHandler() [4/4]

dai::CalibrationHandler::CalibrationHandler ( EepromData eepromData )

explicit

Construct a new Calibration Handler object from EepromData object.

Parameters

eepromData EepromData data structure containing the calibration data.

Definition at line 196 of file CalibrationHandler.cpp.

Member Function Documentation

◆ checkExtrinsicsLink()

bool dai::CalibrationHandler::checkExtrinsicsLink	(	CameraBoardSocket	srcCamera,
		CameraBoardSocket	dstCamera
	)		const

private

Definition at line 532 of file CalibrationHandler.cpp.

◆ checkSrcLinks()

bool dai::CalibrationHandler::checkSrcLinks ( CameraBoardSocket headSocket ) const

private

Definition at line 797 of file CalibrationHandler.cpp.

◆ computeExtrinsicMatrix()

std::vector< std::vector< float > > dai::CalibrationHandler::computeExtrinsicMatrix	(	CameraBoardSocket	srcCamera,
		CameraBoardSocket	dstCamera,
		bool	useSpecTranslation = `false`
	)		const

private

Definition at line 480 of file CalibrationHandler.cpp.

◆ eepromToJson()

nlohmann::json dai::CalibrationHandler::eepromToJson ( ) const

Get JSON representation of calibration data

Returns: JSON structure

Definition at line 476 of file CalibrationHandler.cpp.

◆ eepromToJsonFile()

bool dai::CalibrationHandler::eepromToJsonFile ( dai::Path destPath ) const

Write raw calibration/board data to json file.

Parameters

destPath Full path to the json file in which raw calibration data will be stored

Returns: True on success, false otherwise

Definition at line 469 of file CalibrationHandler.cpp.

◆ fromJson()

CalibrationHandler dai::CalibrationHandler::fromJson ( nlohmann::json eepromDataJson )

static

Construct a new Calibration Handler object from JSON EepromData.

Parameters

eepromDataJson EepromData as JSON

Definition at line 65 of file CalibrationHandler.cpp.

◆ getBaselineDistance()

float dai::CalibrationHandler::getBaselineDistance	(	CameraBoardSocket	cam1 = `CameraBoardSocket::CAM_C`,
		CameraBoardSocket	cam2 = `CameraBoardSocket::CAM_B`,
		bool	useSpecTranslation = `true`
	)		const

Get the baseline distance between two specified cameras. By default it will get the baseline between CameraBoardSocket.CAM_C and CameraBoardSocket.CAM_B.

Parameters

cam1	First camera
cam2	Second camera
useSpecTranslation	Enabling this bool uses the translation information from the board design data (not the calibration data)

Returns: baseline distance in centimeters

Definition at line 400 of file CalibrationHandler.cpp.

◆ getCameraExtrinsics()

std::vector< std::vector< float > > dai::CalibrationHandler::getCameraExtrinsics	(	CameraBoardSocket	srcCamera,
		CameraBoardSocket	dstCamera,
		bool	useSpecTranslation = `false`
	)		const

Get the Camera Extrinsics object between two cameras from the calibration data if there is a linked connection between any two cameras then the relative rotation and translation (in centimeters) is returned by this function.

Parameters

srcCamera	Camera Id of the camera which will be considered as origin.
dstCamera	Camera Id of the destination camera to which we are fetching the rotation and translation from the SrcCamera
useSpecTranslation	Enabling this bool uses the translation information from the board design data

Returns: a transformationMatrix which is 4x4 in homogeneous coordinate system

Matrix representation of transformation matrix

$\text{Transformation Matrix} = \left [ \begin{matrix} r_{00} & r_{01} & r_{02} & T_x \\ r_{10} & r_{11} & r_{12} & T_y \\ r_{20} & r_{21} & r_{22} & T_z \\ 0 & 0 & 0 & 1 \end{matrix} \right ]$

Check if both camera ID exists.
Check if the forward link exists from source to dest camera. if No go to step 5
Call computeExtrinsicMatrix to get the projection matrix from source -> destination camera.
Jump to end and return the projection matrix
if no check if there is forward link from dest to source. if No return an error that link doesn't exist.
Call computeExtrinsicMatrix to get the projection matrix from destination -> source camera.
Carry Transpose on the rotation matrix and get neg of Final translation
Return the Final TransformationMatrix containing both rotation matrix and Translation

Definition at line 357 of file CalibrationHandler.cpp.

◆ getCameraIntrinsics() [1/3]

std::vector< std::vector< float > > dai::CalibrationHandler::getCameraIntrinsics	(	CameraBoardSocket	cameraId,
		int	resizeWidth = `-1`,
		int	resizeHeight = `-1`,
		Point2f	topLeftPixelId = `Point2f()`,
		Point2f	bottomRightPixelId = `Point2f()`,
		bool	keepAspectRatio = `true`
	)		const

Get the Camera Intrinsics object

Parameters

cameraId	Uses the cameraId to identify which camera intrinsics to return
resizewidth	resized width of the image for which intrinsics is requested. resizewidth = -1 represents width is same as default intrinsics
resizeHeight	resized height of the image for which intrinsics is requested. resizeHeight = -1 represents height is same as default intrinsics
topLeftPixelId	(x, y) point represents the top left corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image
bottomRightPixelId	(x, y) point represents the bottom right corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image
keepAspectRatio	Enabling this will scale on width or height depending on which provides the max resolution and crops the remaining part of the other side

Returns: Represents the 3x3 intrinsics matrix of the respective camera at the requested size and crop dimensions.

Matrix representation of intrinsic matrix

$\text{Intrinsic Matrix} = \left [ \begin{matrix} f_x & 0 & c_x \\ 0 & f_y & c_y \\ 0 & 0 & 1 \end{matrix} \right ]$

Definition at line 204 of file CalibrationHandler.cpp.

◆ getCameraIntrinsics() [2/3]

std::vector< std::vector< float > > dai::CalibrationHandler::getCameraIntrinsics	(	CameraBoardSocket	cameraId,
		Size2f	destShape,
		Point2f	topLeftPixelId = `Point2f()`,
		Point2f	bottomRightPixelId = `Point2f()`,
		bool	keepAspectRatio = `true`
	)		const

Get the Camera Intrinsics object

Parameters

cameraId	Uses the cameraId to identify which camera intrinsics to return
destShape	resized width and height of the image for which intrinsics is requested.
topLeftPixelId	(x, y) point represents the top left corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image
bottomRightPixelId	(x, y) point represents the bottom right corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image
keepAspectRatio	Enabling this will scale on width or height depending on which provides the max resolution and crops the remaining part of the other side

Returns: Represents the 3x3 intrinsics matrix of the respective camera at the requested size and crop dimensions.

Matrix representation of intrinsic matrix

$\text{Intrinsic Matrix} = \left [ \begin{matrix} f_x & 0 & c_x \\ 0 & f_y & c_y \\ 0 & 0 & 1 \end{matrix} \right ]$

Definition at line 280 of file CalibrationHandler.cpp.

◆ getCameraIntrinsics() [3/3]

std::vector< std::vector< float > > dai::CalibrationHandler::getCameraIntrinsics	(	CameraBoardSocket	cameraId,
		std::tuple< int, int >	destShape,
		Point2f	topLeftPixelId = `Point2f()`,
		Point2f	bottomRightPixelId = `Point2f()`,
		bool	keepAspectRatio = `true`
	)		const

Get the Camera Intrinsics object

Parameters

cameraId	Uses the cameraId to identify which camera intrinsics to return
destShape	resized width and height of the image for which intrinsics is requested.
topLeftPixelId	(x, y) point represents the top left corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image
bottomRightPixelId	(x, y) point represents the bottom right corner coordinates of the cropped image which is used to modify the intrinsics for the respective cropped image
keepAspectRatio	Enabling this will scale on width or height depending on which provides the max resolution and crops the remaining part of the other side

Returns: Represents the 3x3 intrinsics matrix of the respective camera at the requested size and crop dimensions.

Matrix representation of intrinsic matrix

$\text{Intrinsic Matrix} = \left [ \begin{matrix} f_x & 0 & c_x \\ 0 & f_y & c_y \\ 0 & 0 & 1 \end{matrix} \right ]$

Definition at line 286 of file CalibrationHandler.cpp.

◆ getCameraToImuExtrinsics()

std::vector< std::vector< float > > dai::CalibrationHandler::getCameraToImuExtrinsics	(	CameraBoardSocket	cameraId,
		bool	useSpecTranslation = `false`
	)		const

Get the Camera To Imu Extrinsics object From the data loaded if there is a linked connection between IMU and the given camera then there relative rotation and translation from the camera to IMU is returned.

Parameters

cameraId	Camera Id of the camera which will be considered as origin. from which Transformation matrix to the IMU will be found
useSpecTranslation	Enabling this bool uses the translation information from the board design data

Returns: Returns a transformationMatrix which is 4x4 in homogeneous coordinate system

Matrix representation of transformation matrix

$\text{Transformation Matrix} = \left [ \begin{matrix} r_{00} & r_{01} & r_{02} & T_x \\ r_{10} & r_{11} & r_{12} & T_y \\ r_{20} & r_{21} & r_{22} & T_z \\ 0 & 0 & 0 & 1 \end{matrix} \right ]$

Definition at line 409 of file CalibrationHandler.cpp.

◆ getCameraTranslationVector()

std::vector< float > dai::CalibrationHandler::getCameraTranslationVector	(	CameraBoardSocket	srcCamera,
		CameraBoardSocket	dstCamera,
		bool	useSpecTranslation = `true`
	)		const

Get the Camera translation vector between two cameras from the calibration data.

Parameters

srcCamera	Camera Id of the camera which will be considered as origin.
dstCamera	Camera Id of the destination camera to which we are fetching the translation vector from the SrcCamera
useSpecTranslation	Disabling this bool uses the translation information from the calibration data (not the board design data)

Returns: a translation vector like [x, y, z] in centimeters

Definition at line 390 of file CalibrationHandler.cpp.

◆ getDefaultIntrinsics()

std::tuple< std::vector< std::vector< float > >, int, int > dai::CalibrationHandler::getDefaultIntrinsics ( CameraBoardSocket cameraId ) const

Get the Default Intrinsics object

Parameters

cameraId Uses the cameraId to identify which camera intrinsics to return

Returns: Represents the 3x3 intrinsics matrix of the respective camera along with width and height at which it was calibrated.

Matrix representation of intrinsic matrix

$\text{Intrinsic Matrix} = \left [ \begin{matrix} f_x & 0 & c_x \\ 0 & f_y & c_y \\ 0 & 0 & 1 \end{matrix} \right ]$

Definition at line 291 of file CalibrationHandler.cpp.

◆ getDistortionCoefficients()

std::vector< float > dai::CalibrationHandler::getDistortionCoefficients ( CameraBoardSocket cameraId ) const

Get the Distortion Coefficients object

Parameters

cameraId Uses the cameraId to identify which distortion Coefficients to return.

Returns: the distortion coefficients of the requested camera in this order: [k1,k2,p1,p2,k3,k4,k5,k6,s1,s2,s3,s4,tx,ty] for CameraModel::Perspective or [k1, k2, k3, k4] for CameraModel::Fisheye see https://docs.opencv.org/4.5.4/d9/d0c/group__calib3d.html for Perspective model (Rational Polynomial Model) see https://docs.opencv.org/4.5.4/db/d58/group__calib3d__fisheye.html for Fisheye model

Definition at line 304 of file CalibrationHandler.cpp.

◆ getDistortionModel()

CameraModel dai::CalibrationHandler::getDistortionModel ( CameraBoardSocket cameraId ) const

Get the distortion model of the given camera

Parameters

cameraId of the camera with lens position is requested.

Returns: lens position of the camera with given cameraId at which it was calibrated.

Definition at line 350 of file CalibrationHandler.cpp.

◆ getEepromData()

dai::EepromData dai::CalibrationHandler::getEepromData ( ) const

Get the Eeprom Data object

Returns: EepromData object which contains the raw calibration data

Definition at line 200 of file CalibrationHandler.cpp.

◆ getFov()

float dai::CalibrationHandler::getFov	(	CameraBoardSocket	cameraId,
		bool	useSpec = `true`
	)		const

Get the Fov of the camera

Parameters

cameraId	of the camera of which we are fetching fov.
useSpec	Disabling this bool will calculate the fov based on intrinsics (focal length, image width), instead of getting it from the camera specs

Returns: field of view of the camera with given cameraId.

Definition at line 328 of file CalibrationHandler.cpp.

◆ getImuToCameraExtrinsics()

std::vector< std::vector< float > > dai::CalibrationHandler::getImuToCameraExtrinsics	(	CameraBoardSocket	cameraId,
		bool	useSpecTranslation = `false`
	)		const

Get the Imu To Camera Extrinsics object from the data loaded if there is a linked connection between IMU and the given camera then there relative rotation and translation from the IMU to Camera is returned.

Parameters

cameraId	Camera Id of the camera which will be considered as destination. To which Transformation matrix from the IMU will be found.
useSpecTranslation	Enabling this bool uses the translation information from the board design data

Returns: Returns a transformationMatrix which is 4x4 in homogeneous coordinate system

Matrix representation of transformation matrix

$\text{Transformation Matrix} = \left [ \begin{matrix} r_{00} & r_{01} & r_{02} & T_x \\ r_{10} & r_{11} & r_{12} & T_y \\ r_{20} & r_{21} & r_{22} & T_z \\ 0 & 0 & 0 & 1 \end{matrix} \right ]$

Definition at line 415 of file CalibrationHandler.cpp.

◆ getLensPosition()

uint8_t dai::CalibrationHandler::getLensPosition ( CameraBoardSocket cameraId ) const

Get the lens position of the given camera

Parameters

cameraId of the camera with lens position is requested.

Returns: lens position of the camera with given cameraId at which it was calibrated.

Definition at line 343 of file CalibrationHandler.cpp.

◆ getStereoLeftCameraId()

dai::CameraBoardSocket dai::CalibrationHandler::getStereoLeftCameraId ( ) const

Get the camera id of the camera which is used as left camera of the stereo setup

Returns: cameraID of the camera used as left camera

Definition at line 461 of file CalibrationHandler.cpp.

◆ getStereoLeftRectificationRotation()

std::vector< std::vector< float > > dai::CalibrationHandler::getStereoLeftRectificationRotation ( ) const

Get the Stereo Left Rectification Rotation object

Returns: returns a 3x3 rectification rotation matrix

Definition at line 452 of file CalibrationHandler.cpp.

◆ getStereoRightCameraId()

dai::CameraBoardSocket dai::CalibrationHandler::getStereoRightCameraId ( ) const

Get the camera id of the camera which is used as right camera of the stereo setup

Returns: cameraID of the camera used as right camera

Definition at line 465 of file CalibrationHandler.cpp.

◆ getStereoRightRectificationRotation()

std::vector< std::vector< float > > dai::CalibrationHandler::getStereoRightRectificationRotation ( ) const

Get the Stereo Right Rectification Rotation object

Returns: returns a 3x3 rectification rotation matrix

Definition at line 444 of file CalibrationHandler.cpp.

◆ setBoardInfo() [1/3]

void dai::CalibrationHandler::setBoardInfo	(	std::string	boardName,
		std::string	boardRev
	)

Set the Board Info object

Parameters

version	Sets the version of the Calibration data(Current version is 6)
boardName	Sets your board name.
boardRev	set your board revision id.

Definition at line 545 of file CalibrationHandler.cpp.

◆ setBoardInfo() [2/3]

void dai::CalibrationHandler::setBoardInfo	(	std::string	deviceName,
		std::string	productName,
		std::string	boardName,
		std::string	boardRev,
		std::string	boardConf,
		std::string	hardwareConf,
		std::string	batchName,
		uint64_t	batchTime,
		uint32_t	boardOptions,
		std::string	boardCustom = `""`
	)

Set the Board Info object. Creates version 7 EEPROM data

Parameters

deviceName	Sets device name.
productName	Sets product name (alias).
boardName	Sets board name.
boardRev	Sets board revision id.
boardConf	Sets board configuration id.
hardwareConf	Sets hardware configuration id.
batchName	Sets batch name. Not supported anymore
batchTime	Sets batch time (unix timestamp).
boardCustom	Sets a custom board (Default empty string).

Definition at line 576 of file CalibrationHandler.cpp.

◆ setBoardInfo() [3/3]

void dai::CalibrationHandler::setBoardInfo	(	std::string	productName,
		std::string	boardName,
		std::string	boardRev,
		std::string	boardConf,
		std::string	hardwareConf,
		std::string	batchName,
		uint64_t	batchTime,
		uint32_t	boardOptions,
		std::string	boardCustom = `""`
	)

Set the Board Info object. Creates version 7 EEPROM data

Parameters

productName	Sets product name (alias).
boardName	Sets board name.
boardRev	Sets board revision id.
boardConf	Sets board configuration id.
hardwareConf	Sets hardware configuration id.
batchName	Sets batch name.
batchTime	Sets batch time (unix timestamp).
boardCustom	Sets a custom board (Default empty string).

Definition at line 550 of file CalibrationHandler.cpp.

◆ setCameraExtrinsics()

void dai::CalibrationHandler::setCameraExtrinsics	(	CameraBoardSocket	srcCameraId,
		CameraBoardSocket	destCameraId,
		std::vector< std::vector< float >>	rotationMatrix,
		std::vector< float >	translation,
		std::vector< float >	specTranslation = `{0, 0, 0}`
	)

Set the Camera Extrinsics object

Parameters

srcCameraId	Camera Id of the camera which will be considered as relative origin.
destCameraId	Camera Id of the camera which will be considered as destination from srcCameraId.
rotationMatrix	Rotation between srcCameraId and destCameraId origins.
translation	Translation between srcCameraId and destCameraId origins.
specTranslation	Translation between srcCameraId and destCameraId origins from the design.

Definition at line 710 of file CalibrationHandler.cpp.

◆ setCameraIntrinsics() [1/3]

void dai::CalibrationHandler::setCameraIntrinsics	(	CameraBoardSocket	cameraId,
		std::vector< std::vector< float >>	intrinsics,
		int	width,
		int	height
	)

Set the Camera Intrinsics object

Parameters

cameraId	CameraId of the camera for which Camera intrinsics are being loaded
intrinsics	3x3 intrinsics matrix
width	Represents the width of the image at which intrinsics are calculated.
height	Represents the height of the image at which intrinsics are calculated.

Matrix representation of intrinsic matrix

$\text{Intrinsic Matrix} = \left [ \begin{matrix} f_x & 0 & c_x \\ 0 & f_y & c_y \\ 0 & 0 & 1 \end{matrix} \right ]$

Definition at line 618 of file CalibrationHandler.cpp.

◆ setCameraIntrinsics() [2/3]

void dai::CalibrationHandler::setCameraIntrinsics	(	CameraBoardSocket	cameraId,
		std::vector< std::vector< float >>	intrinsics,
		Size2f	frameSize
	)

Set the Camera Intrinsics object

Parameters

cameraId	CameraId of the camera for which Camera intrinsics are being loaded
intrinsics	3x3 intrinsics matrix
frameSize	Represents the width and height of the image at which intrinsics are calculated.

Matrix representation of intrinsic matrix

$\text{Intrinsic Matrix} = \left [ \begin{matrix} f_x & 0 & c_x \\ 0 & f_y & c_y \\ 0 & 0 & 1 \end{matrix} \right ]$

Definition at line 641 of file CalibrationHandler.cpp.

◆ setCameraIntrinsics() [3/3]

void dai::CalibrationHandler::setCameraIntrinsics	(	CameraBoardSocket	cameraId,
		std::vector< std::vector< float >>	intrinsics,
		std::tuple< int, int >	frameSize
	)

Set the Camera Intrinsics object

Parameters

cameraId	CameraId of the camera for which Camera intrinsics are being loaded
intrinsics	3x3 intrinsics matrix
frameSize	Represents the width and height of the image at which intrinsics are calculated.

Matrix representation of intrinsic matrix

$\text{Intrinsic Matrix} = \left [ \begin{matrix} f_x & 0 & c_x \\ 0 & f_y & c_y \\ 0 & 0 & 1 \end{matrix} \right ]$

Definition at line 646 of file CalibrationHandler.cpp.

◆ setCameraType()

void dai::CalibrationHandler::setCameraType	(	CameraBoardSocket	cameraId,
		CameraModel	cameraModel
	)

Set the Camera Type object

Parameters

cameraId	CameraId of the camera for which cameraModel Type is being updated.
cameraModel	Type of the model the camera represents

Definition at line 699 of file CalibrationHandler.cpp.

◆ setDeviceName()

void dai::CalibrationHandler::setDeviceName ( std::string deviceName )

Set the deviceName which responses to getDeviceName of Device

Parameters

deviceName Sets device name.

Definition at line 604 of file CalibrationHandler.cpp.

◆ setDistortionCoefficients()

void dai::CalibrationHandler::setDistortionCoefficients	(	CameraBoardSocket	cameraId,
		std::vector< float >	distortionCoefficients
	)

Sets the distortion Coefficients obtained from camera calibration

Parameters

cameraId	Camera Id of the camera for which distortion coefficients are computed
distortionCoefficients	Distortion Coefficients of the respective Camera.

Definition at line 651 of file CalibrationHandler.cpp.

◆ setFov()

void dai::CalibrationHandler::setFov	(	CameraBoardSocket	cameraId,
		float	hfov
	)

Set the Fov of the Camera

Parameters

cameraId	Camera Id of the camera
hfov	Horizontal fov of the camera from Camera Datasheet

Definition at line 677 of file CalibrationHandler.cpp.

◆ setImuExtrinsics()

void dai::CalibrationHandler::setImuExtrinsics	(	CameraBoardSocket	destCameraId,
		std::vector< std::vector< float >>	rotationMatrix,
		std::vector< float >	translation,
		std::vector< float >	specTranslation = `{0, 0, 0}`
	)

Set the Imu to Camera Extrinsics object

Parameters

destCameraId	Camera Id of the camera which will be considered as destination from IMU.
rotationMatrix	Rotation between srcCameraId and destCameraId origins.
translation	Translation between IMU and destCameraId origins.
specTranslation	Translation between IMU and destCameraId origins from the design.

Definition at line 741 of file CalibrationHandler.cpp.

◆ setLensPosition()

void dai::CalibrationHandler::setLensPosition	(	CameraBoardSocket	cameraId,
		uint8_t	lensPosition
	)

Sets the distortion Coefficients obtained from camera calibration

Parameters

cameraId	Camera Id of the camera
lensPosition	lens posiotion value of the camera at the time of calibration

Definition at line 688 of file CalibrationHandler.cpp.

◆ setProductName()

void dai::CalibrationHandler::setProductName ( std::string productName )

Set the productName which acts as alisas for users to identify the device

Parameters

productName Sets product name (alias).

Definition at line 611 of file CalibrationHandler.cpp.

◆ setStereoLeft()

void dai::CalibrationHandler::setStereoLeft	(	CameraBoardSocket	cameraId,
		std::vector< std::vector< float >>	rectifiedRotation
	)

Set the Stereo Left Rectification object

Parameters

cameraId	CameraId of the camera which will be used as left Camera of stereo Setup
rectifiedRotation	Rectification rotation of the left camera required for feature matching

Homography of the Left Rectification = Intrinsics_right * rectifiedRotation * inv(Intrinsics_left)

Definition at line 764 of file CalibrationHandler.cpp.

◆ setStereoRight()

void dai::CalibrationHandler::setStereoRight	(	CameraBoardSocket	cameraId,
		std::vector< std::vector< float >>	rectifiedRotation
	)

Set the Stereo Right Rectification object

Parameters

cameraId	CameraId of the camera which will be used as left Camera of stereo Setup
rectifiedRotation	Rectification rotation of the left camera required for feature matching

Homography of the Right Rectification = Intrinsics_right * rectifiedRotation * inv(Intrinsics_right)

Definition at line 773 of file CalibrationHandler.cpp.

◆ validateCameraArray()

bool dai::CalibrationHandler::validateCameraArray ( ) const

Using left camera as the head it iterates over the camera extrinsics connection to check if all the camera extrinsics are connected and no loop exists.

Returns: true on proper connection with no loops.

Definition at line 782 of file CalibrationHandler.cpp.

Member Data Documentation

◆ eepromData

dai::EepromData dai::CalibrationHandler::eepromData

private

when the user is writing extrinsics do we validate if the connection between all the cameras exists ? Some users might not need that connection so they might ignore adding that in that case if the user calls the extrinsics betwwn those cameras it fails We can provide an appropriate error that connection doesn't exist between the requested camera id's.. And other option is making sure the connection exists all the time by validating the links.

Definition at line 547 of file CalibrationHandler.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CalibrationHandler() [1/4]

◆ CalibrationHandler() [2/4]

◆ CalibrationHandler() [3/4]

◆ CalibrationHandler() [4/4]

Member Function Documentation

◆ checkExtrinsicsLink()

◆ checkSrcLinks()

◆ computeExtrinsicMatrix()

◆ eepromToJson()

◆ eepromToJsonFile()

◆ fromJson()

◆ getBaselineDistance()

◆ getCameraExtrinsics()

◆ getCameraIntrinsics() [1/3]

◆ getCameraIntrinsics() [2/3]

◆ getCameraIntrinsics() [3/3]

◆ getCameraToImuExtrinsics()

◆ getCameraTranslationVector()

◆ getDefaultIntrinsics()

◆ getDistortionCoefficients()

◆ getDistortionModel()

◆ getEepromData()

◆ getFov()

◆ getImuToCameraExtrinsics()

◆ getLensPosition()

◆ getStereoLeftCameraId()

◆ getStereoLeftRectificationRotation()

◆ getStereoRightCameraId()

◆ getStereoRightRectificationRotation()

◆ setBoardInfo() [1/3]

◆ setBoardInfo() [2/3]

◆ setBoardInfo() [3/3]

◆ setCameraExtrinsics()

◆ setCameraIntrinsics() [1/3]

◆ setCameraIntrinsics() [2/3]

◆ setCameraIntrinsics() [3/3]

◆ setCameraType()

◆ setDeviceName()

◆ setDistortionCoefficients()

◆ setFov()

◆ setImuExtrinsics()

◆ setLensPosition()

◆ setProductName()

◆ setStereoLeft()

◆ setStereoRight()

◆ validateCameraArray()

Member Data Documentation

◆ eepromData