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.

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

Method Summary

Modifier and Type	Method and Description
boolean	eepromToJsonFile(BytePointer destPath) Write raw calibration/board data to json file.
boolean	eepromToJsonFile(String destPath)
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 data loaded if there is a linked connection between any two cameras then there relative rotation and translation 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) Get the Camera Intrinsics object
FloatVectorVector	getCameraIntrinsics(depthai.CameraBoardSocket cameraId, Pointer destShape)
FloatVectorVector	getCameraIntrinsics(depthai.CameraBoardSocket cameraId, Pointer destShape, Point2f topLeftPixelId, Point2f bottomRightPixelId) Get the Camera Intrinsics object
FloatVectorVector	getCameraIntrinsics(depthai.CameraBoardSocket cameraId, Size2f destShape)
FloatVectorVector	getCameraIntrinsics(depthai.CameraBoardSocket cameraId, Size2f destShape, Point2f topLeftPixelId, Point2f bottomRightPixelId) Get the Camera Intrinsics object
FloatVectorVector	getCameraIntrinsics(int cameraId)
FloatVectorVector	getCameraIntrinsics(int cameraId, int resizeWidth, int resizeHeight, Point2f topLeftPixelId, Point2f bottomRightPixelId)
FloatVectorVector	getCameraIntrinsics(int cameraId, Pointer destShape)
FloatVectorVector	getCameraIntrinsics(int cameraId, Pointer destShape, Point2f topLeftPixelId, Point2f bottomRightPixelId)
FloatVectorVector	getCameraIntrinsics(int cameraId, Size2f destShape)
FloatVectorVector	getCameraIntrinsics(int cameraId, Size2f destShape, Point2f topLeftPixelId, Point2f bottomRightPixelId)
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)
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)
EepromData	getEepromData() Get the Eeprom Data object
float	getFov(depthai.CameraBoardSocket cameraId) Get the Fov of the camera
float	getFov(int cameraId)
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(BytePointer boardName, BytePointer boardRev) Set the Board Info object
void	setBoardInfo(String boardName, String boardRev)
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	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, getPointer, getPointer, getPointer, hashCode, isNull, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetAddress, offsetof, offsetof, parseBytes, physicalBytes, 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(@StdString
                          BytePointer 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(@StdString
                          String eepromDataPath)

CalibrationHandler

public CalibrationHandler(@StdString
                          BytePointer calibrationDataPath,
                          @StdString
                          BytePointer 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(@StdString
                          String calibrationDataPath,
                          @StdString
                          String boardConfigPath)

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

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)

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

Returns:

Repesents 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)

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)

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

Returns:

Repesents 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)

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)

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

Returns:

Repesents 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)

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:

Repesents 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:

repesents the distortion coefficients of the requested camera.

getDistortionCoefficients

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

getFov

public float getFov(depthai.CameraBoardSocket cameraId)

Get the Fov of the camera

Parameters:

cameraId - of the camera of which we are fetching fov.

Returns:

field of view of the camera with given cameraId.

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 postion 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)

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 data loaded if there is a linked connection between any two cameras then there relative rotation and translation is returned by this function.

Parameters:

srcCamera - Camera Id of the camera which will be considerd 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 homogenious 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)

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 considerd 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 homogenious 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 considerd 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 homogenious 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(@StdString
                                                    BytePointer 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

eepromToJsonFile

@Cast(value="bool")
public boolean eepromToJsonFile(@StdString
                                                    String destPath)

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
                         String boardName,
                         @StdString
                         String boardRev)

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 - repesents 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 - repesents the width of the image at which intrinsics are calculated.

height - repesents 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 - repesents 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 distoriton 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 considerd as relative origin.

destCameraId - Camera Id of the camera which will be considerd 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 considerd 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.