diff --git a/boards/OAK-D-POE-W-97.json b/boards/OAK-D-POE-W-97.json index b8ba24e..8e3aba0 100644 --- a/boards/OAK-D-POE-W-97.json +++ b/boards/OAK-D-POE-W-97.json @@ -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": { @@ -29,6 +31,7 @@ "name": "right", "hfov": 127.0, "type": "mono", + "calib_model": "perspective_TILTED", "extrinsics": { "to_cam": "CAM_A", "specTranslation": { diff --git a/boards/OAK-D-POE-W-C12.json b/boards/OAK-D-POE-W-C12.json index e8da5de..651e9bb 100644 --- a/boards/OAK-D-POE-W-C12.json +++ b/boards/OAK-D-POE-W-C12.json @@ -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": { @@ -31,6 +33,7 @@ "name": "right", "hfov": 127.0, "type": "mono", + "calib_model": "perspective_TILTED", "extrinsics": { "to_cam": "CAM_A", "specTranslation": { diff --git a/boards/OAK-D-POE-W.json b/boards/OAK-D-POE-W.json index a81caf9..f48af37 100644 --- a/boards/OAK-D-POE-W.json +++ b/boards/OAK-D-POE-W.json @@ -13,6 +13,7 @@ "name": "left", "hfov": 127.0, "type": "mono", + "calib_model": "perspective_TILTED", "extrinsics": { "to_cam": "CAM_C", "specTranslation": { @@ -31,6 +32,7 @@ "name": "right", "hfov": 127.0, "type": "mono", + "calib_model": "perspective_TILTED", "extrinsics": { "to_cam": "CAM_A", "specTranslation": { diff --git a/boards/OAK-D-PRO-W-97.json b/boards/OAK-D-PRO-W-97.json index b8ba24e..8e3aba0 100644 --- a/boards/OAK-D-PRO-W-97.json +++ b/boards/OAK-D-PRO-W-97.json @@ -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": { @@ -29,6 +31,7 @@ "name": "right", "hfov": 127.0, "type": "mono", + "calib_model": "perspective_TILTED", "extrinsics": { "to_cam": "CAM_A", "specTranslation": { diff --git a/boards/OAK-D-PRO-W-CUSTOM.json b/boards/OAK-D-PRO-W-CUSTOM.json index 742417b..bae56a4 100644 --- a/boards/OAK-D-PRO-W-CUSTOM.json +++ b/boards/OAK-D-PRO-W-CUSTOM.json @@ -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": { @@ -31,6 +33,7 @@ "name": "right", "hfov": 127.0, "type": "mono", + "calib_model": "perspective_TILTED", "extrinsics": { "to_cam": "CAM_A", "specTranslation": { diff --git a/boards/OAK-D-PRO-W-DEV.json b/boards/OAK-D-PRO-W-DEV.json index c779d2f..3833c60 100644 --- a/boards/OAK-D-PRO-W-DEV.json +++ b/boards/OAK-D-PRO-W-DEV.json @@ -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": { @@ -31,6 +33,7 @@ "name": "right", "hfov": 127.0, "type": "mono", + "calib_model": "perspective_TILTED", "extrinsics": { "to_cam": "CAM_A", "specTranslation": { diff --git a/boards/OAK-D-PRO-W-POE-97.json b/boards/OAK-D-PRO-W-POE-97.json index b8ba24e..219f00e 100644 --- a/boards/OAK-D-PRO-W-POE-97.json +++ b/boards/OAK-D-PRO-W-POE-97.json @@ -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", @@ -29,6 +31,7 @@ "name": "right", "hfov": 127.0, "type": "mono", + "calib_model": "perspective_TILTED", "extrinsics": { "to_cam": "CAM_A", "specTranslation": { diff --git a/boards/OAK-D-PRO-W-POE-C01.json b/boards/OAK-D-PRO-W-POE-C01.json index 96157f3..d8db2db 100644 --- a/boards/OAK-D-PRO-W-POE-C01.json +++ b/boards/OAK-D-PRO-W-POE-C01.json @@ -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": { @@ -31,6 +33,7 @@ "name": "right", "hfov": 127.0, "type": "mono", + "calib_model": "perspective_TILTED", "extrinsics": { "to_cam": "CAM_A", "specTranslation": { diff --git a/boards/OAK-D-PRO-W-POE-CUSTOM.json b/boards/OAK-D-PRO-W-POE-CUSTOM.json index 7cb811f..935cf9a 100644 --- a/boards/OAK-D-PRO-W-POE-CUSTOM.json +++ b/boards/OAK-D-PRO-W-POE-CUSTOM.json @@ -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": { @@ -31,6 +33,7 @@ "name": "right", "hfov": 127.0, "type": "mono", + "calib_model": "perspective_TILTED", "extrinsics": { "to_cam": "CAM_A", "specTranslation": { diff --git a/boards/OAK-D-PRO-W-POE.json b/boards/OAK-D-PRO-W-POE.json index 3f576b2..3d2ddf8 100644 --- a/boards/OAK-D-PRO-W-POE.json +++ b/boards/OAK-D-PRO-W-POE.json @@ -13,6 +13,7 @@ "name": "left", "hfov": 127.0, "type": "mono", + "calib_model": "perspective_TILTED", "extrinsics": { "to_cam": "CAM_C", "specTranslation": { @@ -31,6 +32,7 @@ "name": "right", "hfov": 127.0, "type": "mono", + "calib_model": "perspective_TILTED", "extrinsics": { "to_cam": "CAM_A", "specTranslation": { diff --git a/boards/OAK-D-W-97.json b/boards/OAK-D-W-97.json index 2109c9c..eb17803 100644 --- a/boards/OAK-D-W-97.json +++ b/boards/OAK-D-W-97.json @@ -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": { @@ -31,6 +33,7 @@ "name": "right", "hfov": 127.0, "type": "mono", + "calib_model": "perspective_TILTED", "extrinsics": { "to_cam": "CAM_A", "specTranslation": { diff --git a/boards/OAK-D-W.json b/boards/OAK-D-W.json index 2d0e63a..7de5227 100644 --- a/boards/OAK-D-W.json +++ b/boards/OAK-D-W.json @@ -13,6 +13,7 @@ "name": "left", "hfov": 127.0, "type": "mono", + "calib_model": "perspective_TILTED", "extrinsics": { "to_cam": "CAM_C", "specTranslation": { @@ -31,6 +32,7 @@ "name": "right", "hfov": 127.0, "type": "mono", + "calib_model": "perspective_TILTED", "extrinsics": { "to_cam": "CAM_A", "specTranslation": { diff --git a/boards_reader.py b/boards_reader.py index 9cbed66..f2908cd 100644 --- a/boards_reader.py +++ b/boards_reader.py @@ -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 = ""