org.bytedeco.depthai

Class CalibrationHandler

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.depthai.CalibrationHandler

All Implemented Interfaces:

AutoCloseable

@Namespace(value="dai")
 @NoOffset
 @Properties(inherit=depthai.class)
public class CalibrationHandler
extends Pointer

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

Nested Class Summary

Nested classes/interfaces inherited from class org.bytedeco.javacpp.Pointer

Pointer.CustomDeallocator, Pointer.Deallocator, Pointer.NativeDeallocator, Pointer.ReferenceCounter

Field Summary

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

Constructor and Description
CalibrationHandler()
CalibrationHandler(EepromData eepromData) Construct a new Calibration Handler object from EepromData object.
CalibrationHandler(long size) Native array allocator.
CalibrationHandler(Path eepromDataPath) Construct a new Calibration Handler object using the eeprom json file created from calibration procedure.
CalibrationHandler(Path calibrationDataPath, Path boardConfigPath) Construct a new Calibration Handler object using the board config json file and .calib binary files created using gen1 calibration.
CalibrationHandler(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
Pointer	eepromToJson() Get JSON representation of calibration data
boolean	eepromToJsonFile(Path destPath) Write raw calibration/board data to json file.
static CalibrationHandler	fromJson(Pointer eepromDataJson) Construct a new Calibration Handler object from JSON EepromData.
float	getBaselineDistance()
float	getBaselineDistance(depthai.CameraBoardSocket cam1, depthai.CameraBoardSocket cam2, boolean useSpecTranslation) Get the baseline distance between two specified cameras.
float	getBaselineDistance(int cam1, int cam2, boolean useSpecTranslation)
FloatVectorVector	getCameraExtrinsics(depthai.CameraBoardSocket srcCamera, depthai.CameraBoardSocket dstCamera)
FloatVectorVector	getCameraExtrinsics(depthai.CameraBoardSocket srcCamera, depthai.CameraBoardSocket dstCamera, boolean useSpecTranslation) 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.
FloatVectorVector	getCameraExtrinsics(int srcCamera, int dstCamera)
FloatVectorVector	getCameraExtrinsics(int srcCamera, int dstCamera, boolean useSpecTranslation)
FloatVectorVector	getCameraIntrinsics(depthai.CameraBoardSocket cameraId)
FloatVectorVector	getCameraIntrinsics(depthai.CameraBoardSocket cameraId, int resizeWidth, int resizeHeight, Point2f topLeftPixelId, Point2f bottomRightPixelId, boolean keepAspectRatio) Get the Camera Intrinsics object
FloatVectorVector	getCameraIntrinsics(depthai.CameraBoardSocket cameraId, Pointer destShape)
FloatVectorVector	getCameraIntrinsics(depthai.CameraBoardSocket cameraId, Pointer destShape, Point2f topLeftPixelId, Point2f bottomRightPixelId, boolean keepAspectRatio) Get the Camera Intrinsics object
FloatVectorVector	getCameraIntrinsics(depthai.CameraBoardSocket cameraId, Size2f destShape)
FloatVectorVector	getCameraIntrinsics(depthai.CameraBoardSocket cameraId, Size2f destShape, Point2f topLeftPixelId, Point2f bottomRightPixelId, boolean keepAspectRatio) Get the Camera Intrinsics object
FloatVectorVector	getCameraIntrinsics(int cameraId)
FloatVectorVector	getCameraIntrinsics(int cameraId, int resizeWidth, int resizeHeight, Point2f topLeftPixelId, Point2f bottomRightPixelId, boolean keepAspectRatio)
FloatVectorVector	getCameraIntrinsics(int cameraId, Pointer destShape)
FloatVectorVector	getCameraIntrinsics(int cameraId, Pointer destShape, Point2f topLeftPixelId, Point2f bottomRightPixelId, boolean keepAspectRatio)
FloatVectorVector	getCameraIntrinsics(int cameraId, Size2f destShape)
FloatVectorVector	getCameraIntrinsics(int cameraId, Size2f destShape, Point2f topLeftPixelId, Point2f bottomRightPixelId, boolean keepAspectRatio)
FloatVectorVector	getCameraToImuExtrinsics(depthai.CameraBoardSocket cameraId)
FloatVectorVector	getCameraToImuExtrinsics(depthai.CameraBoardSocket cameraId, boolean useSpecTranslation) 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.
FloatVectorVector	getCameraToImuExtrinsics(int cameraId)
FloatVectorVector	getCameraToImuExtrinsics(int cameraId, boolean useSpecTranslation)
FloatPointer	getCameraTranslationVector(depthai.CameraBoardSocket srcCamera, depthai.CameraBoardSocket dstCamera)
FloatPointer	getCameraTranslationVector(depthai.CameraBoardSocket srcCamera, depthai.CameraBoardSocket dstCamera, boolean useSpecTranslation) Get the Camera translation vector between two cameras from the calibration data.
FloatBuffer	getCameraTranslationVector(int srcCamera, int dstCamera)
FloatBuffer	getCameraTranslationVector(int srcCamera, int dstCamera, boolean useSpecTranslation)
FloatVectorVectorIntIntTuple	getDefaultIntrinsics(depthai.CameraBoardSocket cameraId) Get the Default Intrinsics object
FloatVectorVectorIntIntTuple	getDefaultIntrinsics(int cameraId)
FloatPointer	getDistortionCoefficients(depthai.CameraBoardSocket cameraId) Get the Distortion Coefficients object
FloatBuffer	getDistortionCoefficients(int cameraId)
depthai.CameraModel	getDistortionModel(depthai.CameraBoardSocket cameraId) Get the distortion model of the given camera
byte	getDistortionModel(int cameraId)
EepromData	getEepromData() Get the Eeprom Data object
float	getFov(depthai.CameraBoardSocket cameraId)
float	getFov(depthai.CameraBoardSocket cameraId, boolean useSpec) Get the Fov of the camera
float	getFov(int cameraId)
float	getFov(int cameraId, boolean useSpec)
FloatVectorVector	getImuToCameraExtrinsics(depthai.CameraBoardSocket cameraId)
FloatVectorVector	getImuToCameraExtrinsics(depthai.CameraBoardSocket cameraId, boolean useSpecTranslation) 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.
FloatVectorVector	getImuToCameraExtrinsics(int cameraId)
FloatVectorVector	getImuToCameraExtrinsics(int cameraId, boolean useSpecTranslation)
byte	getLensPosition(depthai.CameraBoardSocket cameraId) Get the lens position of the given camera
byte	getLensPosition(int cameraId)
CalibrationHandler	getPointer(long i)
depthai.CameraBoardSocket	getStereoLeftCameraId() Get the camera id of the camera which is used as left camera of the stereo setup
FloatVectorVector	getStereoLeftRectificationRotation() Get the Stereo Left Rectification Rotation object
depthai.CameraBoardSocket	getStereoRightCameraId() Get the camera id of the camera which is used as right camera of the stereo setup
FloatVectorVector	getStereoRightRectificationRotation() Get the Stereo Right Rectification Rotation object
CalibrationHandler	position(long position)
void	setBoardInfo(ByteBuffer boardName, ByteBuffer boardRev)
void	setBoardInfo(ByteBuffer productName, ByteBuffer boardName, ByteBuffer boardRev, ByteBuffer boardConf, ByteBuffer hardwareConf, ByteBuffer batchName, long batchTime, int boardOptions)
void	setBoardInfo(ByteBuffer productName, ByteBuffer boardName, ByteBuffer boardRev, ByteBuffer boardConf, ByteBuffer hardwareConf, ByteBuffer batchName, long batchTime, int boardOptions, ByteBuffer boardCustom)
void	setBoardInfo(BytePointer boardName, BytePointer boardRev) Set the Board Info object
void	setBoardInfo(BytePointer productName, BytePointer boardName, BytePointer boardRev, BytePointer boardConf, BytePointer hardwareConf, BytePointer batchName, long batchTime, int boardOptions)
void	setBoardInfo(BytePointer productName, BytePointer boardName, BytePointer boardRev, BytePointer boardConf, BytePointer hardwareConf, BytePointer batchName, long batchTime, int boardOptions, BytePointer boardCustom) Set the Board Info object.
void	setBoardInfo(String boardName, String boardRev)
void	setBoardInfo(String productName, String boardName, String boardRev, String boardConf, String hardwareConf, String batchName, long batchTime, int boardOptions)
void	setBoardInfo(String productName, String boardName, String boardRev, String boardConf, String hardwareConf, String batchName, long batchTime, int boardOptions, String boardCustom)
void	setCameraExtrinsics(depthai.CameraBoardSocket srcCameraId, depthai.CameraBoardSocket destCameraId, FloatVectorVector rotationMatrix, float[] translation)
void	setCameraExtrinsics(depthai.CameraBoardSocket srcCameraId, depthai.CameraBoardSocket destCameraId, FloatVectorVector rotationMatrix, float[] translation, float[] specTranslation)
void	setCameraExtrinsics(depthai.CameraBoardSocket srcCameraId, depthai.CameraBoardSocket destCameraId, FloatVectorVector rotationMatrix, FloatBuffer translation)
void	setCameraExtrinsics(depthai.CameraBoardSocket srcCameraId, depthai.CameraBoardSocket destCameraId, FloatVectorVector rotationMatrix, FloatBuffer translation, FloatBuffer specTranslation)
void	setCameraExtrinsics(depthai.CameraBoardSocket srcCameraId, depthai.CameraBoardSocket destCameraId, FloatVectorVector rotationMatrix, FloatPointer translation)
void	setCameraExtrinsics(depthai.CameraBoardSocket srcCameraId, depthai.CameraBoardSocket destCameraId, FloatVectorVector rotationMatrix, FloatPointer translation, FloatPointer specTranslation) Set the Camera Extrinsics object
void	setCameraExtrinsics(int srcCameraId, int destCameraId, FloatVectorVector rotationMatrix, float[] translation)
void	setCameraExtrinsics(int srcCameraId, int destCameraId, FloatVectorVector rotationMatrix, float[] translation, float[] specTranslation)
void	setCameraExtrinsics(int srcCameraId, int destCameraId, FloatVectorVector rotationMatrix, FloatBuffer translation)
void	setCameraExtrinsics(int srcCameraId, int destCameraId, FloatVectorVector rotationMatrix, FloatBuffer translation, FloatBuffer specTranslation)
void	setCameraExtrinsics(int srcCameraId, int destCameraId, FloatVectorVector rotationMatrix, FloatPointer translation)
void	setCameraExtrinsics(int srcCameraId, int destCameraId, FloatVectorVector rotationMatrix, FloatPointer translation, FloatPointer specTranslation)
void	setCameraIntrinsics(depthai.CameraBoardSocket cameraId, FloatVectorVector intrinsics, int width, int height) Set the Camera Intrinsics object
void	setCameraIntrinsics(depthai.CameraBoardSocket cameraId, FloatVectorVector intrinsics, Pointer frameSize) Set the Camera Intrinsics object
void	setCameraIntrinsics(depthai.CameraBoardSocket cameraId, FloatVectorVector intrinsics, Size2f frameSize) Set the Camera Intrinsics object
void	setCameraIntrinsics(int cameraId, FloatVectorVector intrinsics, int width, int height)
void	setCameraIntrinsics(int cameraId, FloatVectorVector intrinsics, Pointer frameSize)
void	setCameraIntrinsics(int cameraId, FloatVectorVector intrinsics, Size2f frameSize)
void	setCameraType(depthai.CameraBoardSocket cameraId, depthai.CameraModel cameraModel) Set the Camera Type object
void	setCameraType(int cameraId, byte cameraModel)
void	setDistortionCoefficients(depthai.CameraBoardSocket cameraId, float[] distortionCoefficients)
void	setDistortionCoefficients(depthai.CameraBoardSocket cameraId, FloatBuffer distortionCoefficients)
void	setDistortionCoefficients(depthai.CameraBoardSocket cameraId, FloatPointer distortionCoefficients) Sets the distortion Coefficients obtained from camera calibration
void	setDistortionCoefficients(int cameraId, float[] distortionCoefficients)
void	setDistortionCoefficients(int cameraId, FloatBuffer distortionCoefficients)
void	setDistortionCoefficients(int cameraId, FloatPointer distortionCoefficients)
void	setFov(depthai.CameraBoardSocket cameraId, float hfov) Set the Fov of the Camera
void	setFov(int cameraId, float hfov)
void	setImuExtrinsics(depthai.CameraBoardSocket destCameraId, FloatVectorVector rotationMatrix, float[] translation)
void	setImuExtrinsics(depthai.CameraBoardSocket destCameraId, FloatVectorVector rotationMatrix, float[] translation, float[] specTranslation)
void	setImuExtrinsics(depthai.CameraBoardSocket destCameraId, FloatVectorVector rotationMatrix, FloatBuffer translation)
void	setImuExtrinsics(depthai.CameraBoardSocket destCameraId, FloatVectorVector rotationMatrix, FloatBuffer translation, FloatBuffer specTranslation)
void	setImuExtrinsics(depthai.CameraBoardSocket destCameraId, FloatVectorVector rotationMatrix, FloatPointer translation)
void	setImuExtrinsics(depthai.CameraBoardSocket destCameraId, FloatVectorVector rotationMatrix, FloatPointer translation, FloatPointer specTranslation) Set the Imu to Camera Extrinsics object
void	setImuExtrinsics(int destCameraId, FloatVectorVector rotationMatrix, float[] translation)
void	setImuExtrinsics(int destCameraId, FloatVectorVector rotationMatrix, float[] translation, float[] specTranslation)
void	setImuExtrinsics(int destCameraId, FloatVectorVector rotationMatrix, FloatBuffer translation)
void	setImuExtrinsics(int destCameraId, FloatVectorVector rotationMatrix, FloatBuffer translation, FloatBuffer specTranslation)
void	setImuExtrinsics(int destCameraId, FloatVectorVector rotationMatrix, FloatPointer translation)
void	setImuExtrinsics(int destCameraId, FloatVectorVector rotationMatrix, FloatPointer translation, FloatPointer specTranslation)
void	setLensPosition(depthai.CameraBoardSocket cameraId, byte lensPosition) Sets the distortion Coefficients obtained from camera calibration
void	setLensPosition(int cameraId, byte lensPosition)
void	setProductName(ByteBuffer productName)
void	setProductName(BytePointer productName) Set the productName which acts as alisas for users to identify the device
void	setProductName(String productName)
void	setStereoLeft(depthai.CameraBoardSocket cameraId, FloatVectorVector rectifiedRotation) Set the Stereo Left Rectification object
void	setStereoLeft(int cameraId, FloatVectorVector rectifiedRotation)
void	setStereoRight(depthai.CameraBoardSocket cameraId, FloatVectorVector rectifiedRotation) Set the Stereo Right Rectification object
void	setStereoRight(int cameraId, FloatVectorVector rectifiedRotation)
boolean	validateCameraArray() 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.

Methods inherited from class org.bytedeco.javacpp.Pointer

address, asBuffer, asByteBuffer, availablePhysicalBytes, calloc, capacity, capacity, close, deallocate, deallocate, deallocateReferences, deallocator, deallocator, equals, fill, formatBytes, free, getDirectBufferAddress, getPointer, getPointer, getPointer, hashCode, interruptDeallocatorThread, isNull, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetAddress, offsetof, offsetof, parseBytes, physicalBytes, physicalBytesInaccurate, position, put, realloc, referenceCount, releaseReference, retainReference, setNull, sizeof, sizeof, toString, totalBytes, totalCount, totalPhysicalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

CalibrationHandler

public CalibrationHandler(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

CalibrationHandler

public CalibrationHandler(long size)

Native array allocator. Access with Pointer.position(long).

CalibrationHandler

public CalibrationHandler()

CalibrationHandler

public CalibrationHandler(@ByVal
                          Path eepromDataPath)

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.

CalibrationHandler

public CalibrationHandler(@ByVal
                          Path calibrationDataPath,
                          @ByVal
                          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.

CalibrationHandler

public CalibrationHandler(@ByVal
                          EepromData eepromData)

Construct a new Calibration Handler object from EepromData object.

Parameters:

eepromData - EepromData data structure containing the calibration data.

Method Detail

position

public CalibrationHandler position(long position)

Overrides:

position in class Pointer

getPointer

public CalibrationHandler getPointer(long i)

Overrides:

getPointer in class Pointer

fromJson

@ByVal
public static CalibrationHandler fromJson(@ByVal @Cast(value="nlohmann::json*")
                                                 Pointer eepromDataJson)

Construct a new Calibration Handler object from JSON EepromData.

Parameters:

eepromDataJson - EepromData as JSON

getEepromData

@ByVal
public EepromData getEepromData()

Get the Eeprom Data object

Returns:

EepromData object which contains the raw calibration data

getCameraIntrinsics

@ByVal
public FloatVectorVector getCameraIntrinsics(depthai.CameraBoardSocket cameraId,
                                                    int resizeWidth,
                                                    int resizeHeight,
                                                    @ByVal(nullValue="dai::Point2f()")
                                                    Point2f topLeftPixelId,
                                                    @ByVal(nullValue="dai::Point2f()")
                                                    Point2f bottomRightPixelId,
                                                    @Cast(value="bool")
                                                    boolean keepAspectRatio)

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

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

getCameraIntrinsics

@ByVal
public FloatVectorVector getCameraIntrinsics(depthai.CameraBoardSocket cameraId)

getCameraIntrinsics

@ByVal
public FloatVectorVector getCameraIntrinsics(@Cast(value="dai::CameraBoardSocket")
                                                    int cameraId,
                                                    int resizeWidth,
                                                    int resizeHeight,
                                                    @ByVal(nullValue="dai::Point2f()")
                                                    Point2f topLeftPixelId,
                                                    @ByVal(nullValue="dai::Point2f()")
                                                    Point2f bottomRightPixelId,
                                                    @Cast(value="bool")
                                                    boolean keepAspectRatio)

getCameraIntrinsics

@ByVal
public FloatVectorVector getCameraIntrinsics(@Cast(value="dai::CameraBoardSocket")
                                                    int cameraId)

getCameraIntrinsics

@ByVal
public FloatVectorVector getCameraIntrinsics(depthai.CameraBoardSocket cameraId,
                                                    @ByVal
                                                    Size2f destShape,
                                                    @ByVal(nullValue="dai::Point2f()")
                                                    Point2f topLeftPixelId,
                                                    @ByVal(nullValue="dai::Point2f()")
                                                    Point2f bottomRightPixelId,
                                                    @Cast(value="bool")
                                                    boolean keepAspectRatio)

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

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

getCameraIntrinsics

@ByVal
public FloatVectorVector getCameraIntrinsics(depthai.CameraBoardSocket cameraId,
                                                    @ByVal
                                                    Size2f destShape)

getCameraIntrinsics

@ByVal
public FloatVectorVector getCameraIntrinsics(@Cast(value="dai::CameraBoardSocket")
                                                    int cameraId,
                                                    @ByVal
                                                    Size2f destShape,
                                                    @ByVal(nullValue="dai::Point2f()")
                                                    Point2f topLeftPixelId,
                                                    @ByVal(nullValue="dai::Point2f()")
                                                    Point2f bottomRightPixelId,
                                                    @Cast(value="bool")
                                                    boolean keepAspectRatio)

getCameraIntrinsics

@ByVal
public FloatVectorVector getCameraIntrinsics(@Cast(value="dai::CameraBoardSocket")
                                                    int cameraId,
                                                    @ByVal
                                                    Size2f destShape)

getCameraIntrinsics

@ByVal
public FloatVectorVector getCameraIntrinsics(depthai.CameraBoardSocket cameraId,
                                                    @ByVal @Cast(value="std::tuple<int,int>*")
                                                    Pointer destShape,
                                                    @ByVal(nullValue="dai::Point2f()")
                                                    Point2f topLeftPixelId,
                                                    @ByVal(nullValue="dai::Point2f()")
                                                    Point2f bottomRightPixelId,
                                                    @Cast(value="bool")
                                                    boolean keepAspectRatio)

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

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

getCameraIntrinsics

@ByVal
public FloatVectorVector getCameraIntrinsics(depthai.CameraBoardSocket cameraId,
                                                    @ByVal @Cast(value="std::tuple<int,int>*")
                                                    Pointer destShape)

getCameraIntrinsics

@ByVal
public FloatVectorVector getCameraIntrinsics(@Cast(value="dai::CameraBoardSocket")
                                                    int cameraId,
                                                    @ByVal @Cast(value="std::tuple<int,int>*")
                                                    Pointer destShape,
                                                    @ByVal(nullValue="dai::Point2f()")
                                                    Point2f topLeftPixelId,
                                                    @ByVal(nullValue="dai::Point2f()")
                                                    Point2f bottomRightPixelId,
                                                    @Cast(value="bool")
                                                    boolean keepAspectRatio)

getCameraIntrinsics

@ByVal
public FloatVectorVector getCameraIntrinsics(@Cast(value="dai::CameraBoardSocket")
                                                    int cameraId,
                                                    @ByVal @Cast(value="std::tuple<int,int>*")
                                                    Pointer destShape)

getDefaultIntrinsics

@ByVal
public FloatVectorVectorIntIntTuple getDefaultIntrinsics(depthai.CameraBoardSocket cameraId)

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

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

getDefaultIntrinsics

@ByVal
public FloatVectorVectorIntIntTuple getDefaultIntrinsics(@Cast(value="dai::CameraBoardSocket")
                                                                int cameraId)

getDistortionCoefficients

@StdVector
public FloatPointer getDistortionCoefficients(depthai.CameraBoardSocket cameraId)

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,??x,??y]

getDistortionCoefficients

@StdVector
public FloatBuffer getDistortionCoefficients(@Cast(value="dai::CameraBoardSocket")
                                                        int cameraId)

getFov

public float getFov(depthai.CameraBoardSocket cameraId,
                    @Cast(value="bool")
                    boolean useSpec)

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.

getFov

public float getFov(depthai.CameraBoardSocket cameraId)

getFov

public float getFov(@Cast(value="dai::CameraBoardSocket")
                    int cameraId,
                    @Cast(value="bool")
                    boolean useSpec)

getFov

public float getFov(@Cast(value="dai::CameraBoardSocket")
                    int cameraId)

getLensPosition

@Cast(value="uint8_t")
public byte getLensPosition(depthai.CameraBoardSocket cameraId)

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.

getLensPosition

@Cast(value="uint8_t")
public byte getLensPosition(@Cast(value="dai::CameraBoardSocket")
                                                   int cameraId)

getDistortionModel

public depthai.CameraModel getDistortionModel(depthai.CameraBoardSocket cameraId)

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.

getDistortionModel

@Cast(value="dai::CameraModel")
public byte getDistortionModel(@Cast(value="dai::CameraBoardSocket")
                                                               int cameraId)

getCameraExtrinsics

@ByVal
public FloatVectorVector getCameraExtrinsics(depthai.CameraBoardSocket srcCamera,
                                                    depthai.CameraBoardSocket dstCamera,
                                                    @Cast(value="bool")
                                                    boolean useSpecTranslation)

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

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

getCameraExtrinsics

@ByVal
public FloatVectorVector getCameraExtrinsics(depthai.CameraBoardSocket srcCamera,
                                                    depthai.CameraBoardSocket dstCamera)

getCameraExtrinsics

@ByVal
public FloatVectorVector getCameraExtrinsics(@Cast(value="dai::CameraBoardSocket")
                                                    int srcCamera,
                                                    @Cast(value="dai::CameraBoardSocket")
                                                    int dstCamera,
                                                    @Cast(value="bool")
                                                    boolean useSpecTranslation)

getCameraExtrinsics

@ByVal
public FloatVectorVector getCameraExtrinsics(@Cast(value="dai::CameraBoardSocket")
                                                    int srcCamera,
                                                    @Cast(value="dai::CameraBoardSocket")
                                                    int dstCamera)

getCameraTranslationVector

@StdVector
public FloatPointer getCameraTranslationVector(depthai.CameraBoardSocket srcCamera,
                                                          depthai.CameraBoardSocket dstCamera,
                                                          @Cast(value="bool")
                                                          boolean useSpecTranslation)

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

getCameraTranslationVector

@StdVector
public FloatPointer getCameraTranslationVector(depthai.CameraBoardSocket srcCamera,
                                                          depthai.CameraBoardSocket dstCamera)

getCameraTranslationVector

@StdVector
public FloatBuffer getCameraTranslationVector(@Cast(value="dai::CameraBoardSocket")
                                                         int srcCamera,
                                                         @Cast(value="dai::CameraBoardSocket")
                                                         int dstCamera,
                                                         @Cast(value="bool")
                                                         boolean useSpecTranslation)

getCameraTranslationVector

@StdVector
public FloatBuffer getCameraTranslationVector(@Cast(value="dai::CameraBoardSocket")
                                                         int srcCamera,
                                                         @Cast(value="dai::CameraBoardSocket")
                                                         int dstCamera)

getBaselineDistance

public float getBaselineDistance(depthai.CameraBoardSocket cam1,
                                 depthai.CameraBoardSocket cam2,
                                 @Cast(value="bool")
                                 boolean useSpecTranslation)

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

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

getBaselineDistance

public float getBaselineDistance()

getBaselineDistance

public float getBaselineDistance(@Cast(value="dai::CameraBoardSocket")
                                 int cam1,
                                 @Cast(value="dai::CameraBoardSocket")
                                 int cam2,
                                 @Cast(value="bool")
                                 boolean useSpecTranslation)

getCameraToImuExtrinsics

@ByVal
public FloatVectorVector getCameraToImuExtrinsics(depthai.CameraBoardSocket cameraId,
                                                         @Cast(value="bool")
                                                         boolean useSpecTranslation)

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

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

getCameraToImuExtrinsics

@ByVal
public FloatVectorVector getCameraToImuExtrinsics(depthai.CameraBoardSocket cameraId)

getCameraToImuExtrinsics

@ByVal
public FloatVectorVector getCameraToImuExtrinsics(@Cast(value="dai::CameraBoardSocket")
                                                         int cameraId,
                                                         @Cast(value="bool")
                                                         boolean useSpecTranslation)

getCameraToImuExtrinsics

@ByVal
public FloatVectorVector getCameraToImuExtrinsics(@Cast(value="dai::CameraBoardSocket")
                                                         int cameraId)

getImuToCameraExtrinsics

@ByVal
public FloatVectorVector getImuToCameraExtrinsics(depthai.CameraBoardSocket cameraId,
                                                         @Cast(value="bool")
                                                         boolean useSpecTranslation)

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

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

getImuToCameraExtrinsics

@ByVal
public FloatVectorVector getImuToCameraExtrinsics(depthai.CameraBoardSocket cameraId)

getImuToCameraExtrinsics

@ByVal
public FloatVectorVector getImuToCameraExtrinsics(@Cast(value="dai::CameraBoardSocket")
                                                         int cameraId,
                                                         @Cast(value="bool")
                                                         boolean useSpecTranslation)

getImuToCameraExtrinsics

@ByVal
public FloatVectorVector getImuToCameraExtrinsics(@Cast(value="dai::CameraBoardSocket")
                                                         int cameraId)

getStereoRightRectificationRotation

@ByVal
public FloatVectorVector getStereoRightRectificationRotation()

Get the Stereo Right Rectification Rotation object

Returns:

returns a 3x3 rectification rotation matrix

getStereoLeftRectificationRotation

@ByVal
public FloatVectorVector getStereoLeftRectificationRotation()

Get the Stereo Left Rectification Rotation object

Returns:

returns a 3x3 rectification rotation matrix

getStereoLeftCameraId

public depthai.CameraBoardSocket getStereoLeftCameraId()

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

getStereoRightCameraId

public depthai.CameraBoardSocket getStereoRightCameraId()

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

eepromToJsonFile

@Cast(value="bool")
public boolean eepromToJsonFile(@ByVal
                                                    Path destPath)

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

eepromToJson

@ByVal
 @Cast(value="nlohmann::json*")
public Pointer eepromToJson()

Get JSON representation of calibration data

Returns:

JSON structure

setBoardInfo

public void setBoardInfo(@StdString
                         BytePointer boardName,
                         @StdString
                         BytePointer 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.

setBoardInfo

public void setBoardInfo(@StdString
                         ByteBuffer boardName,
                         @StdString
                         ByteBuffer boardRev)

setBoardInfo

public void setBoardInfo(@StdString
                         String boardName,
                         @StdString
                         String boardRev)

setBoardInfo

public void setBoardInfo(@StdString
                         BytePointer productName,
                         @StdString
                         BytePointer boardName,
                         @StdString
                         BytePointer boardRev,
                         @StdString
                         BytePointer boardConf,
                         @StdString
                         BytePointer hardwareConf,
                         @StdString
                         BytePointer batchName,
                         @Cast(value="uint64_t")
                         long batchTime,
                         @Cast(value="uint32_t")
                         int boardOptions,
                         @StdString
                         BytePointer 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).

setBoardInfo

public void setBoardInfo(@StdString
                         BytePointer productName,
                         @StdString
                         BytePointer boardName,
                         @StdString
                         BytePointer boardRev,
                         @StdString
                         BytePointer boardConf,
                         @StdString
                         BytePointer hardwareConf,
                         @StdString
                         BytePointer batchName,
                         @Cast(value="uint64_t")
                         long batchTime,
                         @Cast(value="uint32_t")
                         int boardOptions)

setBoardInfo

public void setBoardInfo(@StdString
                         ByteBuffer productName,
                         @StdString
                         ByteBuffer boardName,
                         @StdString
                         ByteBuffer boardRev,
                         @StdString
                         ByteBuffer boardConf,
                         @StdString
                         ByteBuffer hardwareConf,
                         @StdString
                         ByteBuffer batchName,
                         @Cast(value="uint64_t")
                         long batchTime,
                         @Cast(value="uint32_t")
                         int boardOptions,
                         @StdString
                         ByteBuffer boardCustom)

setBoardInfo

public void setBoardInfo(@StdString
                         ByteBuffer productName,
                         @StdString
                         ByteBuffer boardName,
                         @StdString
                         ByteBuffer boardRev,
                         @StdString
                         ByteBuffer boardConf,
                         @StdString
                         ByteBuffer hardwareConf,
                         @StdString
                         ByteBuffer batchName,
                         @Cast(value="uint64_t")
                         long batchTime,
                         @Cast(value="uint32_t")
                         int boardOptions)

setBoardInfo

public void setBoardInfo(@StdString
                         String productName,
                         @StdString
                         String boardName,
                         @StdString
                         String boardRev,
                         @StdString
                         String boardConf,
                         @StdString
                         String hardwareConf,
                         @StdString
                         String batchName,
                         @Cast(value="uint64_t")
                         long batchTime,
                         @Cast(value="uint32_t")
                         int boardOptions,
                         @StdString
                         String boardCustom)

setBoardInfo

public void setBoardInfo(@StdString
                         String productName,
                         @StdString
                         String boardName,
                         @StdString
                         String boardRev,
                         @StdString
                         String boardConf,
                         @StdString
                         String hardwareConf,
                         @StdString
                         String batchName,
                         @Cast(value="uint64_t")
                         long batchTime,
                         @Cast(value="uint32_t")
                         int boardOptions)

setProductName

public void setProductName(@StdString
                           BytePointer productName)

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

Parameters:

productName - Sets product name (alias).

setProductName

public void setProductName(@StdString
                           ByteBuffer productName)

setProductName

public void setProductName(@StdString
                           String productName)

setCameraIntrinsics

public void setCameraIntrinsics(depthai.CameraBoardSocket cameraId,
                                @ByVal
                                FloatVectorVector intrinsics,
                                @ByVal
                                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

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

setCameraIntrinsics

public void setCameraIntrinsics(@Cast(value="dai::CameraBoardSocket")
                                int cameraId,
                                @ByVal
                                FloatVectorVector intrinsics,
                                @ByVal
                                Size2f frameSize)

setCameraIntrinsics

public void setCameraIntrinsics(depthai.CameraBoardSocket cameraId,
                                @ByVal
                                FloatVectorVector 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

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

setCameraIntrinsics

public void setCameraIntrinsics(@Cast(value="dai::CameraBoardSocket")
                                int cameraId,
                                @ByVal
                                FloatVectorVector intrinsics,
                                int width,
                                int height)

setCameraIntrinsics

public void setCameraIntrinsics(depthai.CameraBoardSocket cameraId,
                                @ByVal
                                FloatVectorVector intrinsics,
                                @ByVal @Cast(value="std::tuple<int,int>*")
                                Pointer 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

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

setCameraIntrinsics

public void setCameraIntrinsics(@Cast(value="dai::CameraBoardSocket")
                                int cameraId,
                                @ByVal
                                FloatVectorVector intrinsics,
                                @ByVal @Cast(value="std::tuple<int,int>*")
                                Pointer frameSize)

setDistortionCoefficients

public void setDistortionCoefficients(depthai.CameraBoardSocket cameraId,
                                      @StdVector
                                      FloatPointer 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.

setDistortionCoefficients

public void setDistortionCoefficients(@Cast(value="dai::CameraBoardSocket")
                                      int cameraId,
                                      @StdVector
                                      FloatBuffer distortionCoefficients)

setDistortionCoefficients

public void setDistortionCoefficients(depthai.CameraBoardSocket cameraId,
                                      @StdVector
                                      float[] distortionCoefficients)

setDistortionCoefficients

public void setDistortionCoefficients(@Cast(value="dai::CameraBoardSocket")
                                      int cameraId,
                                      @StdVector
                                      FloatPointer distortionCoefficients)

setDistortionCoefficients

public void setDistortionCoefficients(depthai.CameraBoardSocket cameraId,
                                      @StdVector
                                      FloatBuffer distortionCoefficients)

setDistortionCoefficients

public void setDistortionCoefficients(@Cast(value="dai::CameraBoardSocket")
                                      int cameraId,
                                      @StdVector
                                      float[] distortionCoefficients)

setFov

public void setFov(depthai.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

setFov

public void setFov(@Cast(value="dai::CameraBoardSocket")
                   int cameraId,
                   float hfov)

setLensPosition

public void setLensPosition(depthai.CameraBoardSocket cameraId,
                            @Cast(value="uint8_t")
                            byte 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

setLensPosition

public void setLensPosition(@Cast(value="dai::CameraBoardSocket")
                            int cameraId,
                            @Cast(value="uint8_t")
                            byte lensPosition)

setCameraType

public void setCameraType(depthai.CameraBoardSocket cameraId,
                          depthai.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

setCameraType

public void setCameraType(@Cast(value="dai::CameraBoardSocket")
                          int cameraId,
                          @Cast(value="dai::CameraModel")
                          byte cameraModel)

setCameraExtrinsics

public void setCameraExtrinsics(depthai.CameraBoardSocket srcCameraId,
                                depthai.CameraBoardSocket destCameraId,
                                @ByVal
                                FloatVectorVector rotationMatrix,
                                @StdVector
                                FloatPointer translation,
                                @StdVector
                                FloatPointer specTranslation)

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.

setCameraExtrinsics

public void setCameraExtrinsics(depthai.CameraBoardSocket srcCameraId,
                                depthai.CameraBoardSocket destCameraId,
                                @ByVal
                                FloatVectorVector rotationMatrix,
                                @StdVector
                                FloatPointer translation)

setCameraExtrinsics

public void setCameraExtrinsics(@Cast(value="dai::CameraBoardSocket")
                                int srcCameraId,
                                @Cast(value="dai::CameraBoardSocket")
                                int destCameraId,
                                @ByVal
                                FloatVectorVector rotationMatrix,
                                @StdVector
                                FloatBuffer translation,
                                @StdVector
                                FloatBuffer specTranslation)

setCameraExtrinsics

public void setCameraExtrinsics(@Cast(value="dai::CameraBoardSocket")
                                int srcCameraId,
                                @Cast(value="dai::CameraBoardSocket")
                                int destCameraId,
                                @ByVal
                                FloatVectorVector rotationMatrix,
                                @StdVector
                                FloatBuffer translation)

setCameraExtrinsics

public void setCameraExtrinsics(depthai.CameraBoardSocket srcCameraId,
                                depthai.CameraBoardSocket destCameraId,
                                @ByVal
                                FloatVectorVector rotationMatrix,
                                @StdVector
                                float[] translation,
                                @StdVector
                                float[] specTranslation)

setCameraExtrinsics

public void setCameraExtrinsics(depthai.CameraBoardSocket srcCameraId,
                                depthai.CameraBoardSocket destCameraId,
                                @ByVal
                                FloatVectorVector rotationMatrix,
                                @StdVector
                                float[] translation)

setCameraExtrinsics

public void setCameraExtrinsics(@Cast(value="dai::CameraBoardSocket")
                                int srcCameraId,
                                @Cast(value="dai::CameraBoardSocket")
                                int destCameraId,
                                @ByVal
                                FloatVectorVector rotationMatrix,
                                @StdVector
                                FloatPointer translation,
                                @StdVector
                                FloatPointer specTranslation)

setCameraExtrinsics

public void setCameraExtrinsics(@Cast(value="dai::CameraBoardSocket")
                                int srcCameraId,
                                @Cast(value="dai::CameraBoardSocket")
                                int destCameraId,
                                @ByVal
                                FloatVectorVector rotationMatrix,
                                @StdVector
                                FloatPointer translation)

setCameraExtrinsics

public void setCameraExtrinsics(depthai.CameraBoardSocket srcCameraId,
                                depthai.CameraBoardSocket destCameraId,
                                @ByVal
                                FloatVectorVector rotationMatrix,
                                @StdVector
                                FloatBuffer translation,
                                @StdVector
                                FloatBuffer specTranslation)

setCameraExtrinsics

public void setCameraExtrinsics(depthai.CameraBoardSocket srcCameraId,
                                depthai.CameraBoardSocket destCameraId,
                                @ByVal
                                FloatVectorVector rotationMatrix,
                                @StdVector
                                FloatBuffer translation)

setCameraExtrinsics

public void setCameraExtrinsics(@Cast(value="dai::CameraBoardSocket")
                                int srcCameraId,
                                @Cast(value="dai::CameraBoardSocket")
                                int destCameraId,
                                @ByVal
                                FloatVectorVector rotationMatrix,
                                @StdVector
                                float[] translation,
                                @StdVector
                                float[] specTranslation)

setCameraExtrinsics

public void setCameraExtrinsics(@Cast(value="dai::CameraBoardSocket")
                                int srcCameraId,
                                @Cast(value="dai::CameraBoardSocket")
                                int destCameraId,
                                @ByVal
                                FloatVectorVector rotationMatrix,
                                @StdVector
                                float[] translation)

setImuExtrinsics

public void setImuExtrinsics(depthai.CameraBoardSocket destCameraId,
                             @ByVal
                             FloatVectorVector rotationMatrix,
                             @StdVector
                             FloatPointer translation,
                             @StdVector
                             FloatPointer specTranslation)

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.

setImuExtrinsics

public void setImuExtrinsics(depthai.CameraBoardSocket destCameraId,
                             @ByVal
                             FloatVectorVector rotationMatrix,
                             @StdVector
                             FloatPointer translation)

setImuExtrinsics

public void setImuExtrinsics(@Cast(value="dai::CameraBoardSocket")
                             int destCameraId,
                             @ByVal
                             FloatVectorVector rotationMatrix,
                             @StdVector
                             FloatBuffer translation,
                             @StdVector
                             FloatBuffer specTranslation)

setImuExtrinsics

public void setImuExtrinsics(@Cast(value="dai::CameraBoardSocket")
                             int destCameraId,
                             @ByVal
                             FloatVectorVector rotationMatrix,
                             @StdVector
                             FloatBuffer translation)

setImuExtrinsics

public void setImuExtrinsics(depthai.CameraBoardSocket destCameraId,
                             @ByVal
                             FloatVectorVector rotationMatrix,
                             @StdVector
                             float[] translation,
                             @StdVector
                             float[] specTranslation)

setImuExtrinsics

public void setImuExtrinsics(depthai.CameraBoardSocket destCameraId,
                             @ByVal
                             FloatVectorVector rotationMatrix,
                             @StdVector
                             float[] translation)

setImuExtrinsics

public void setImuExtrinsics(@Cast(value="dai::CameraBoardSocket")
                             int destCameraId,
                             @ByVal
                             FloatVectorVector rotationMatrix,
                             @StdVector
                             FloatPointer translation,
                             @StdVector
                             FloatPointer specTranslation)

setImuExtrinsics

public void setImuExtrinsics(@Cast(value="dai::CameraBoardSocket")
                             int destCameraId,
                             @ByVal
                             FloatVectorVector rotationMatrix,
                             @StdVector
                             FloatPointer translation)

setImuExtrinsics

public void setImuExtrinsics(depthai.CameraBoardSocket destCameraId,
                             @ByVal
                             FloatVectorVector rotationMatrix,
                             @StdVector
                             FloatBuffer translation,
                             @StdVector
                             FloatBuffer specTranslation)

setImuExtrinsics

public void setImuExtrinsics(depthai.CameraBoardSocket destCameraId,
                             @ByVal
                             FloatVectorVector rotationMatrix,
                             @StdVector
                             FloatBuffer translation)

setImuExtrinsics

public void setImuExtrinsics(@Cast(value="dai::CameraBoardSocket")
                             int destCameraId,
                             @ByVal
                             FloatVectorVector rotationMatrix,
                             @StdVector
                             float[] translation,
                             @StdVector
                             float[] specTranslation)

setImuExtrinsics

public void setImuExtrinsics(@Cast(value="dai::CameraBoardSocket")
                             int destCameraId,
                             @ByVal
                             FloatVectorVector rotationMatrix,
                             @StdVector
                             float[] translation)

setStereoLeft

public void setStereoLeft(depthai.CameraBoardSocket cameraId,
                          @ByVal
                          FloatVectorVector 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)

setStereoLeft

public void setStereoLeft(@Cast(value="dai::CameraBoardSocket")
                          int cameraId,
                          @ByVal
                          FloatVectorVector rectifiedRotation)

setStereoRight

public void setStereoRight(depthai.CameraBoardSocket cameraId,
                           @ByVal
                           FloatVectorVector 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)

setStereoRight

public void setStereoRight(@Cast(value="dai::CameraBoardSocket")
                           int cameraId,
                           @ByVal
                           FloatVectorVector rectifiedRotation)

validateCameraArray

@Cast(value="bool")
public boolean validateCameraArray()

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.