Synchonize calibration examples w/ c++; add documentation

docs/source/samples/calibration_flash.rst

@@ -0,0 +1,38 @@
+Calibration Flash
+=================
+
+This example shows how to flash calibration data of version 6 (gen2 calibration data) to the device.
+
+.. rubric:: Similiar samples:
+
+- :ref:`Calibration Flash v5`
+- :ref:`Calibration Reader`
+- :ref:`Calibration Load`
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/calibration_flash.py>`__
+
+        .. literalinclude:: ../../../examples/calibration_flash.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/src/calibration_flash.cpp>`__
+
+        .. literalinclude:: ../../../depthai-core/examples/src/calibration_flash.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst

docs/source/samples/calibration_flash_v5.rst

@@ -0,0 +1,38 @@
+Calibration Flash v5
+====================
+
+This example shows how to flash calibration data of version 5 (gen1 calibration data) to the device.
+
+.. rubric:: Similiar samples:
+
+- :ref:`Calibration Flash`
+- :ref:`Calibration Reader`
+- :ref:`Calibration Load`
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/calibration_flash_v5.py>`__
+
+        .. literalinclude:: ../../../examples/calibration_flash_v5.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/src/calibration_flash_v5.cpp>`__
+
+        .. literalinclude:: ../../../depthai-core/examples/src/calibration_flash_v5.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst

docs/source/samples/calibration_load.rst

@@ -0,0 +1,38 @@
+Calibration Load
+================
+
+This example shows how to load and use calibration data of version6 (gen2 calibration data) in a pipeline.
+
+.. rubric:: Similiar samples:
+
+- :ref:`Calibration Flash v5`
+- :ref:`Calibration Flash`
+- :ref:`Calibration Reader`
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/calibration_load.py>`__
+
+        .. literalinclude:: ../../../examples/calibration_load.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/src/calibration_load.cpp>`__
+
+        .. literalinclude:: ../../../depthai-core/examples/src/calibration_load.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst

docs/source/samples/calibration_reader.rst

@@ -0,0 +1,38 @@
+Calibration Reader
+==================
+
+This example shows how to read calibration data stored on device over XLink.
+
+.. rubric:: Similiar samples:
+
+- :ref:`Calibration Flash v5`
+- :ref:`Calibration Flash`
+- :ref:`Calibration Load`
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/calibration_reader.py>`__
+
+        .. literalinclude:: ../../../examples/calibration_reader.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/src/calibration_reader.cpp>`__
+
+        .. literalinclude:: ../../../depthai-core/examples/src/calibration_reader.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst

docs/source/tutorials/code_samples.rst

@@ -59,4 +59,8 @@ Code samples are used for automated testing. They are also a great starting poin
 - :ref:`System information` - Displays device system information (memory/cpu usage, temperature)
 - :ref:`OpenCV support` - Demonstrates how to retrieve an image frame as an OpenCV frame
 - :ref:`Device Queue Event` - Demonstrates how to use device queue events
-- :ref:`Queue add callback` - Demonstrates how to use queue callbacks
+- :ref:`Queue add callback` - Demonstrates how to use queue callbacks
+- :ref:`Calibration Flash v5` - Demonstrates how to flash calibration data of version 5 (gen1 calibration data) to the device
+- :ref:`Calibration Flash` - Demonstrates how to flash calibration data of version 6 (gen2 calibration data) to the device
+- :ref:`Calibration Reader` - Demonstrates how to read calibration data stored on device over XLink
+- :ref:`Calibration Load` - Demonstrates how to load and use calibration data of version6 (gen2 calibration data) in a pipeline

docs/source/tutorials/mixed_samples.rst

@@ -10,8 +10,16 @@ Mixed
    ../samples/opencv_support.rst
    ../samples/device_queue_event.rst
    ../samples/queue_add_callback.rst
+   ../samples/calibration_flash_v5.rst
+   ../samples/calibration_flash.rst
+   ../samples/calibration_reader.rst
+   ../samples/calibration_load.rst
 
 - :ref:`System information` - Displays device system information (memory/cpu usage, temperature)
 - :ref:`OpenCV support` - Demonstrates how to retrieve an image frame as an OpenCV frame
 - :ref:`Device Queue Event` - Demonstrates how to use device queue events
-- :ref:`Queue add callback` - Demonstrates how to use queue callbacks
+- :ref:`Queue add callback` - Demonstrates how to use queue callbacks
+- :ref:`Calibration Flash v5` - Demonstrates how to flash calibration data of version 5 (gen1 calibration data) to the device
+- :ref:`Calibration Flash` - Demonstrates how to flash calibration data of version 6 (gen2 calibration data) to the device
+- :ref:`Calibration Reader` - Demonstrates how to read calibration data stored on device over XLink
+- :ref:`Calibration Load` - Demonstrates how to load and use calibration data of version6 (gen2 calibration data) in a pipeline

examples/CMakeLists.txt

@@ -123,4 +123,8 @@ add_python_example(object_tracker_video object_tracker_video.py)
 add_python_example(stereo_depth_from_host stereo_depth_from_host.py)
 add_python_example(stereo_depth_video stereo_depth_video.py)
 add_python_example(imu_gyroscope_accelerometer imu_gyroscope_accelerometer.py)
-add_python_example(imu_rotation_vector imu_rotation_vector.py)
+add_python_example(imu_rotation_vector imu_rotation_vector.py)
+add_python_example(calibration_flash_v5 calibration_flash_v5.py)
+add_python_example(calibration_flash calibration_flash.py)
+add_python_example(calibration_load calibration_load.py)
+add_python_example(calibration_reader calibration_reader.py)

examples/calibration_flash.py

@@ -5,23 +5,24 @@
 import depthai as dai
 import argparse
 
-
-# Connect Device
 calibJsonFile = str((Path(__file__).parent / Path('models/depthai_calib.json')).resolve().absolute())
-calibBackupfile = str((Path(__file__).parent / Path('depthai_calib_backup.json')).resolve().absolute())
+calibBackUpFile = str((Path(__file__).parent / Path('depthai_calib_backup.json')).resolve().absolute())
 
 parser = argparse.ArgumentParser()
 parser.add_argument('calibJsonFile', nargs='?', help="Path to V6 calibration file in json", default=calibJsonFile)
 args = parser.parse_args()
 
+# Connect device
 with dai.Device() as device:
+
     deviceCalib = device.readCalibration()
-    deviceCalib.eepromToJsonFile(calibBackupfile)
+    deviceCalib.eepromToJsonFile(calibBackUpFile)
     print("Calibration Data on the device is backed up at:")
-    print(calibBackupfile)
-    calibData = dai.CalibrationHandler(args.calibJsonFile);
+    print(calibBackUpFile)
+    calibData = dai.CalibrationHandler(args.calibJsonFile)
+
     status = device.flashCalibration(calibData)
     if status:
-        print('Calibration write succesfull')
+        print('Calibration Flash Successful')
     else:
-        print('Calibration Flash Failed!!')
+        print('Calibration Flash Failed!!!')

examples/calibration_flash_v5.py

@@ -5,25 +5,26 @@
 import depthai as dai
 import argparse
 
-
-# Connect Device
 boardConfigFile = str((Path(__file__).parent / Path('models/BW1098OBC.json')).resolve().absolute())
 calibBinaryFile = str((Path(__file__).parent / Path('models/depthai_v5.calib')).resolve().absolute())
-calibBackupfile = str((Path(__file__).parent / Path('depthai_calib_backup.json')).resolve().absolute())
+calibBackUpFile = str((Path(__file__).parent / Path('depthai_calib_backup.json')).resolve().absolute())
 
 parser = argparse.ArgumentParser()
 parser.add_argument('boardConfigFile', nargs='?', help="Path to board config file", default=boardConfigFile)
 parser.add_argument('calibBinaryFile', nargs='?', help="Path to version 5 .calib file", default=calibBinaryFile)
 args = parser.parse_args()
 
+# Connect device
 with dai.Device() as device:
+
     deviceCalib = device.readCalibration()
-    deviceCalib.eepromToJsonFile(calibBackupfile)
+    deviceCalib.eepromToJsonFile(calibBackUpFile)
     print("Calibration Data on the device is backed up at:")
-    print(calibBackupfile)
-    calibData = dai.CalibrationHandler(args.calibBinaryFile, args.boardConfigFile);
+    print(calibBackUpFile)
+    calibData = dai.CalibrationHandler(args.calibBinaryFile, args.boardConfigFile)
+
     status = device.flashCalibration(calibData)
     if status:
-        print('Calibration write succesful')
+        print('Calibration Flash Successful')
     else:
-        print('Calibration Flash Failed!!')
+        print('Calibration Flash Failed!!!')

examples/calibration_load.py

@@ -7,50 +7,50 @@
 import numpy as np
 import cv2
 
-def createStereoPipeline():
-    p = dai.Pipeline()
-
-    monoLeft = p.createMonoCamera();
-    monoRight = p.createMonoCamera();
-    stereo = p.createStereoDepth();
-    xoutDepth = p.createXLinkOut();
-    xoutDepth.setStreamName("depth");
-
-    # MonoCamera
-    monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P);
-    monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT);
-    # monoLeft.setFps(5.0);
-    monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P);
-    monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT);
-    # monoRight.setFps(5.0);
-
-    monoLeft.out.link(stereo.left);
-    monoRight.out.link(stereo.right);
-    stereo.depth.link(xoutDepth.input);
-
-    return p;
-
-# Connect Device
 calibJsonFile = str((Path(__file__).parent / Path('models/depthai_calib.json')).resolve().absolute())
 
 parser = argparse.ArgumentParser()
 parser.add_argument('calibJsonFile', nargs='?', help="Path to V6 calibration file in json", default=calibJsonFile)
 args = parser.parse_args()
 
+calibData = dai.CalibrationHandler(args.calibJsonFile)
 
-calibData = dai.CalibrationHandler(args.calibJsonFile);
-pipeline = createStereoPipeline()
+# Create pipeline
+pipeline = dai.Pipeline()
 pipeline.setCalibrationData(calibData)
 
-with dai.Device() as device:
-    device.startPipeline(pipeline)
-    q = device.getOutputQueue(name="depth", maxSize=4, blocking=False)
+# Define sources and output
+monoLeft = pipeline.createMonoCamera()
+monoRight = pipeline.createMonoCamera()
+stereo = pipeline.createStereoDepth()
+xoutDepth = pipeline.createXLinkOut()
+xoutDepth.setStreamName("depth")
+
+# MonoCamera
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
+# monoLeft.setFps(5.0)
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
+# monoRight.setFps(5.0)
+
+# Linking
+monoLeft.out.link(stereo.left)
+monoRight.out.link(stereo.right)
+stereo.depth.link(xoutDepth.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    depthQueue = device.getOutputQueue(name="depth", maxSize=4, blocking=False)
+
     while True:
-        inDepth = q.get()  # blocking call, will wait until a new data has arrived
+        # blocking call, will wait until a new data has arrived
+        inDepth = depthQueue.get()
         frame = inDepth.getFrame()
 
         # frame is ready to be shown
         cv2.imshow("depth", frame)
 
         if cv2.waitKey(1) == ord('q'):
-            break
+            break

examples/calibration_reader.py

@@ -7,28 +7,28 @@
 import time
 import argparse
 
-
 # Connect Device
 with dai.Device() as device:
-    calibObj = device.readCalibration()
-    M_rgb, width, height = np.array(calibObj.getDefaultIntrinsics(dai.CameraBoardSocket.RGB))
+
+    calibData = device.readCalibration()
+    M_rgb, width, height = np.array(calibData.getDefaultIntrinsics(dai.CameraBoardSocket.RGB))
     print("RGB Camera Default intrinsics...")
     print(M_rgb)
     print(width)
     print(height)
-    
-    M_left = np.array(calibObj.getCameraIntrinsics(dai.CameraBoardSocket.LEFT, 1280, 720))
+
+    M_left = np.array(calibData.getCameraIntrinsics(dai.CameraBoardSocket.LEFT, 1280, 720))
     print("LEFT Camera resized intrinsics...")
-    print(M_left) 
-  
-    R1 = np.array(calibObj.getStereoLeftRectificationRotation())
-    R2 = np.array(calibObj.getStereoRightRectificationRotation())
-    M_right = np.array(calibObj.getCameraIntrinsics(calibObj.getStereoRightCameraId(), 1280, 720))
-    
+    print(M_left)
+
+    R1 = np.array(calibData.getStereoLeftRectificationRotation())
+    R2 = np.array(calibData.getStereoRightRectificationRotation())
+    M_right = np.array(calibData.getCameraIntrinsics(calibData.getStereoRightCameraId(), 1280, 720))
+
     H_left = np.matmul(np.matmul(M_right, R1), np.linalg.inv(M_left))
     print("LEFT Camera stereo rectification matrix...")
-    print(H_left) 
-    
-    lr_extrinsics = np.array(calibObj.getCameraExtrinsics(dai.CameraBoardSocket.LEFT, dai.CameraBoardSocket.RIGHT))
+    print(H_left)
+
+    lr_extrinsics = np.array(calibData.getCameraExtrinsics(dai.CameraBoardSocket.LEFT, dai.CameraBoardSocket.RIGHT))
     print("Transformation matrix of where left Camera is W.R.T right Camera's optical center")
-    print(lr_extrinsics) 
+    print(lr_extrinsics)