Calibration Reader¶
This example shows how to read calibration data stored on device over XLink.
Similar samples:
Setup¶
Please run the install script to download all required dependencies. Please note that this script must be ran from git context, so you have to download the depthai-python repository first and then run the script
git clone https://github.com/luxonis/depthai-python.git
cd depthai-python/examples
python3 install_requirements.py
For additional information, please follow installation guide
Source code¶
Also available on GitHub
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 | #!/usr/bin/env python3
import depthai as dai
import numpy as np
import sys
from pathlib import Path
# Connect Device
with dai.Device() as device:
calibFile = str((Path(__file__).parent / Path(f"calib_{device.getMxId()}.json")).resolve().absolute())
if len(sys.argv) > 1:
calibFile = sys.argv[1]
calibData = device.readCalibration()
calibData.eepromToJsonFile(calibFile)
M_rgb, width, height = calibData.getDefaultIntrinsics(dai.CameraBoardSocket.RGB)
print("RGB Camera Default intrinsics...")
print(M_rgb)
print(width)
print(height)
M_rgb, width, height = calibData.getDefaultIntrinsics(dai.CameraBoardSocket.RGB)
M_left = np.array(calibData.getCameraIntrinsics(dai.CameraBoardSocket.LEFT, 1280, 720))
print("LEFT Camera resized intrinsics...")
print(M_left)
D_left = np.array(calibData.getDistortionCoefficients(dai.CameraBoardSocket.LEFT))
print("LEFT Distortion Coefficients...")
[print(name+": "+value) for (name, value) in zip(["k1","k2","p1","p2","k3","k4","k5","k6","s1","s2","s3","s4","τx","τy"],[str(data) for data in D_left])]
M_right = np.array(calibData.getCameraIntrinsics(dai.CameraBoardSocket.RIGHT, 1280, 720))
print("RIGHT Camera resized intrinsics...")
print(M_right)
D_right = np.array(calibData.getDistortionCoefficients(dai.CameraBoardSocket.RIGHT))
print("RIGHT Distortion Coefficients...")
[print(name+": "+value) for (name, value) in zip(["k1","k2","p1","p2","k3","k4","k5","k6","s1","s2","s3","s4","τx","τy"],[str(data) for data in D_right])]
print(f"RGB FOV {calibData.getFov(dai.CameraBoardSocket.RGB)}, Mono FOV {calibData.getFov(dai.CameraBoardSocket.LEFT)}")
R1 = np.array(calibData.getStereoLeftRectificationRotation())
R2 = np.array(calibData.getStereoRightRectificationRotation())
M_right = np.array(calibData.getCameraIntrinsics(calibData.getStereoRightCameraId(), 1280, 720))
H_left = np.matmul(np.matmul(M_right, R1), np.linalg.inv(M_left))
print("LEFT Camera stereo rectification matrix...")
print(H_left)
H_right = np.matmul(np.matmul(M_right, R1), np.linalg.inv(M_right))
print("RIGHT Camera stereo rectification matrix...")
print(H_right)
lr_extrinsics = np.array(calibData.getCameraExtrinsics(dai.CameraBoardSocket.LEFT, dai.CameraBoardSocket.RIGHT))
print("Transformation matrix of where left Camera is W.R.T right Camera's optical center")
print(lr_extrinsics)
l_rgb_extrinsics = np.array(calibData.getCameraExtrinsics(dai.CameraBoardSocket.LEFT, dai.CameraBoardSocket.RGB))
print("Transformation matrix of where left Camera is W.R.T RGB Camera's optical center")
print(l_rgb_extrinsics)
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Also available on GitHub
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 | #include <cstdio>
#include <iostream>
#include <string>
// Includes common necessary includes for development using depthai library
#include "depthai-shared/common/CameraBoardSocket.hpp"
#include "depthai-shared/common/EepromData.hpp"
#include "depthai/depthai.hpp"
void printMatrix(std::vector<std::vector<float>> matrix) {
using namespace std;
std::string out = "[";
for(auto row : matrix) {
out += "[";
for(auto val : row) out += to_string(val) + ", ";
out = out.substr(0, out.size() - 2) + "]\n";
}
out = out.substr(0, out.size() - 1) + "]\n\n";
cout << out;
}
int main(int argc, char** argv) {
using namespace std;
// Connect Device
dai::Device device;
dai::CalibrationHandler calibData = device.readCalibration();
// calibData.eepromToJsonFile(filename);
std::vector<std::vector<float>> intrinsics;
int width, height;
cout << "Intrinsics from defaultIntrinsics function:" << endl;
std::tie(intrinsics, width, height) = calibData.getDefaultIntrinsics(dai::CameraBoardSocket::RIGHT);
printMatrix(intrinsics);
cout << "Width: " << width << endl;
cout << "Height: " << height << endl;
cout << "Stereo baseline distance: " << calibData.getBaselineDistance() << " cm" << endl;
cout << "Mono FOV from camera specs: " << calibData.getFov(dai::CameraBoardSocket::LEFT)
<< ", calculated FOV: " << calibData.getFov(dai::CameraBoardSocket::LEFT, false) << endl;
cout << "Intrinsics from getCameraIntrinsics function full resolution:" << endl;
intrinsics = calibData.getCameraIntrinsics(dai::CameraBoardSocket::RIGHT);
printMatrix(intrinsics);
cout << "Intrinsics from getCameraIntrinsics function 1280 x 720:" << endl;
intrinsics = calibData.getCameraIntrinsics(dai::CameraBoardSocket::RIGHT, 1280, 720);
printMatrix(intrinsics);
cout << "Intrinsics from getCameraIntrinsics function 720 x 450:" << endl;
intrinsics = calibData.getCameraIntrinsics(dai::CameraBoardSocket::RIGHT, 720);
printMatrix(intrinsics);
cout << "Intrinsics from getCameraIntrinsics function 600 x 1280:" << endl;
intrinsics = calibData.getCameraIntrinsics(dai::CameraBoardSocket::RIGHT, 600, 1280);
printMatrix(intrinsics);
std::vector<std::vector<float>> extrinsics;
cout << "Extrinsics from left->right test:" << endl;
extrinsics = calibData.getCameraExtrinsics(dai::CameraBoardSocket::LEFT, dai::CameraBoardSocket::RIGHT);
printMatrix(extrinsics);
cout << "Extrinsics from right->left test:" << endl;
extrinsics = calibData.getCameraExtrinsics(dai::CameraBoardSocket::RIGHT, dai::CameraBoardSocket::LEFT);
printMatrix(extrinsics);
cout << "Extrinsics from right->rgb test:" << endl;
extrinsics = calibData.getCameraExtrinsics(dai::CameraBoardSocket::RIGHT, dai::CameraBoardSocket::RGB);
printMatrix(extrinsics);
cout << "Extrinsics from rgb->right test:" << endl;
extrinsics = calibData.getCameraExtrinsics(dai::CameraBoardSocket::RGB, dai::CameraBoardSocket::RIGHT);
printMatrix(extrinsics);
cout << "Extrinsics from left->rgb test:" << endl;
extrinsics = calibData.getCameraExtrinsics(dai::CameraBoardSocket::LEFT, dai::CameraBoardSocket::RGB);
printMatrix(extrinsics);
return 0;
}
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