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Merge pull request #88 from luxonis/calib_model_update
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Added all W models to be tilted
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@CenekAlbl
CenekAlbl authored May 23, 2024
2 parents 9ca5a6b + c209ce8 commit dcf628c
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Showing 13 changed files with 43 additions and 10 deletions.
5 changes: 4 additions & 1 deletion boards/OAK-D-POE-W-97.json
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"CAM_A": {
"name": "rgb",
"hfov": 127.0,
"type": "color"
"type": "color",
"calib_model": "perspective_TILTED"
},
"CAM_B": {
"name": "left",
"hfov": 127.0,
"type": "mono",
"calib_model": "perspective_TILTED",
"extrinsics": {
"to_cam": "CAM_C",
"specTranslation": {
Expand All @@ -29,6 +31,7 @@
"name": "right",
"hfov": 127.0,
"type": "mono",
"calib_model": "perspective_TILTED",
"extrinsics": {
"to_cam": "CAM_A",
"specTranslation": {
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5 changes: 4 additions & 1 deletion boards/OAK-D-POE-W-C12.json
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Expand Up @@ -7,12 +7,14 @@
"CAM_A": {
"name": "rgb",
"hfov": 127.0,
"type": "color"
"type": "color",
"calib_model": "perspective_TILTED"
},
"CAM_B": {
"name": "left",
"hfov": 127.0,
"type": "mono",
"calib_model": "perspective_TILTED",
"extrinsics": {
"to_cam": "CAM_C",
"specTranslation": {
Expand All @@ -31,6 +33,7 @@
"name": "right",
"hfov": 127.0,
"type": "mono",
"calib_model": "perspective_TILTED",
"extrinsics": {
"to_cam": "CAM_A",
"specTranslation": {
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2 changes: 2 additions & 0 deletions boards/OAK-D-POE-W.json
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Expand Up @@ -13,6 +13,7 @@
"name": "left",
"hfov": 127.0,
"type": "mono",
"calib_model": "perspective_TILTED",
"extrinsics": {
"to_cam": "CAM_C",
"specTranslation": {
Expand All @@ -31,6 +32,7 @@
"name": "right",
"hfov": 127.0,
"type": "mono",
"calib_model": "perspective_TILTED",
"extrinsics": {
"to_cam": "CAM_A",
"specTranslation": {
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5 changes: 4 additions & 1 deletion boards/OAK-D-PRO-W-97.json
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Expand Up @@ -5,12 +5,14 @@
"CAM_A": {
"name": "rgb",
"hfov": 127.0,
"type": "color"
"type": "color",
"calib_model": "perspective_TILTED"
},
"CAM_B": {
"name": "left",
"hfov": 127.0,
"type": "mono",
"calib_model": "perspective_TILTED",
"extrinsics": {
"to_cam": "CAM_C",
"specTranslation": {
Expand All @@ -29,6 +31,7 @@
"name": "right",
"hfov": 127.0,
"type": "mono",
"calib_model": "perspective_TILTED",
"extrinsics": {
"to_cam": "CAM_A",
"specTranslation": {
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5 changes: 4 additions & 1 deletion boards/OAK-D-PRO-W-CUSTOM.json
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Expand Up @@ -7,12 +7,14 @@
"CAM_A": {
"name": "rgb",
"hfov": 127.0,
"type": "color"
"type": "color",
"calib_model": "perspective_TILTED"
},
"CAM_B": {
"name": "left",
"hfov": 127.0,
"type": "mono",
"calib_model": "perspective_TILTED",
"extrinsics": {
"to_cam": "CAM_C",
"specTranslation": {
Expand All @@ -31,6 +33,7 @@
"name": "right",
"hfov": 127.0,
"type": "mono",
"calib_model": "perspective_TILTED",
"extrinsics": {
"to_cam": "CAM_A",
"specTranslation": {
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5 changes: 4 additions & 1 deletion boards/OAK-D-PRO-W-DEV.json
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Expand Up @@ -7,12 +7,14 @@
"CAM_A": {
"name": "rgb",
"hfov": 127.0,
"type": "color"
"type": "color",
"calib_model": "perspective_TILTED"
},
"CAM_B": {
"name": "left",
"hfov": 127.0,
"type": "mono",
"calib_model": "perspective_TILTED",
"extrinsics": {
"to_cam": "CAM_C",
"specTranslation": {
Expand All @@ -31,6 +33,7 @@
"name": "right",
"hfov": 127.0,
"type": "mono",
"calib_model": "perspective_TILTED",
"extrinsics": {
"to_cam": "CAM_A",
"specTranslation": {
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5 changes: 4 additions & 1 deletion boards/OAK-D-PRO-W-POE-97.json
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Expand Up @@ -5,11 +5,13 @@
"CAM_A": {
"name": "rgb",
"hfov": 127.0,
"type": "color"
"type": "color",
"calib_model": "perspective_TILTED"
},
"CAM_B": {
"name": "left",
"hfov": 127.0,
"calib_model": "perspective_TILTED",
"type": "mono",
"extrinsics": {
"to_cam": "CAM_C",
Expand All @@ -29,6 +31,7 @@
"name": "right",
"hfov": 127.0,
"type": "mono",
"calib_model": "perspective_TILTED",
"extrinsics": {
"to_cam": "CAM_A",
"specTranslation": {
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5 changes: 4 additions & 1 deletion boards/OAK-D-PRO-W-POE-C01.json
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Expand Up @@ -7,12 +7,14 @@
"CAM_A": {
"name": "rgb",
"hfov": 127.0,
"type": "color"
"type": "color",
"calib_model": "perspective_TILTED"
},
"CAM_B": {
"name": "left",
"hfov": 127.0,
"type": "mono",
"calib_model": "perspective_TILTED",
"extrinsics": {
"to_cam": "CAM_C",
"specTranslation": {
Expand All @@ -31,6 +33,7 @@
"name": "right",
"hfov": 127.0,
"type": "mono",
"calib_model": "perspective_TILTED",
"extrinsics": {
"to_cam": "CAM_A",
"specTranslation": {
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5 changes: 4 additions & 1 deletion boards/OAK-D-PRO-W-POE-CUSTOM.json
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Expand Up @@ -7,12 +7,14 @@
"CAM_A": {
"name": "rgb",
"hfov": 127.0,
"type": "color"
"type": "color",
"calib_model": "perspective_TILTED"
},
"CAM_B": {
"name": "left",
"hfov": 127.0,
"type": "mono",
"calib_model": "perspective_TILTED",
"extrinsics": {
"to_cam": "CAM_C",
"specTranslation": {
Expand All @@ -31,6 +33,7 @@
"name": "right",
"hfov": 127.0,
"type": "mono",
"calib_model": "perspective_TILTED",
"extrinsics": {
"to_cam": "CAM_A",
"specTranslation": {
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2 changes: 2 additions & 0 deletions boards/OAK-D-PRO-W-POE.json
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Expand Up @@ -13,6 +13,7 @@
"name": "left",
"hfov": 127.0,
"type": "mono",
"calib_model": "perspective_TILTED",
"extrinsics": {
"to_cam": "CAM_C",
"specTranslation": {
Expand All @@ -31,6 +32,7 @@
"name": "right",
"hfov": 127.0,
"type": "mono",
"calib_model": "perspective_TILTED",
"extrinsics": {
"to_cam": "CAM_A",
"specTranslation": {
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5 changes: 4 additions & 1 deletion boards/OAK-D-W-97.json
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Original file line number Diff line number Diff line change
Expand Up @@ -7,12 +7,14 @@
"CAM_A": {
"name": "rgb",
"hfov": 127.0,
"type": "color"
"type": "color",
"calib_model": "perspective_TILTED"
},
"CAM_B": {
"name": "left",
"hfov": 127.0,
"type": "mono",
"calib_model": "perspective_TILTED",
"extrinsics": {
"to_cam": "CAM_C",
"specTranslation": {
Expand All @@ -31,6 +33,7 @@
"name": "right",
"hfov": 127.0,
"type": "mono",
"calib_model": "perspective_TILTED",
"extrinsics": {
"to_cam": "CAM_A",
"specTranslation": {
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2 changes: 2 additions & 0 deletions boards/OAK-D-W.json
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Expand Up @@ -13,6 +13,7 @@
"name": "left",
"hfov": 127.0,
"type": "mono",
"calib_model": "perspective_TILTED",
"extrinsics": {
"to_cam": "CAM_C",
"specTranslation": {
Expand All @@ -31,6 +32,7 @@
"name": "right",
"hfov": 127.0,
"type": "mono",
"calib_model": "perspective_TILTED",
"extrinsics": {
"to_cam": "CAM_A",
"specTranslation": {
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2 changes: 1 addition & 1 deletion boards_reader.py
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Expand Up @@ -199,7 +199,7 @@ class CameraInfo(BaseModel):
hfov: float = 0.0
type: str = ""
camera_model: str = "perspective"
calib_model: str = "perspective_DEFAULT"
calib_model: str = "perspective_NORMAL"
""" Camera model can be either 'perspective' or 'fisheye'. """
extrinsics: Optional[Extrinsics] = None
sensor_name: str = ""
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