From 925ed91f85fd98aa8f7e22914b76344f921713d3 Mon Sep 17 00:00:00 2001 From: GergelySzabolcs Date: Thu, 10 Sep 2020 06:38:05 +0300 Subject: [PATCH 01/12] Merge changes from enhance_stereo_depth into develop --- depthai-core | 2 +- src/device_bindings.cpp | 37 +++++++++++++++++++++++++++++++++++++ 2 files changed, 38 insertions(+), 1 deletion(-) diff --git a/depthai-core b/depthai-core index 1bd444253..850985afc 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit 1bd44425339d2ca9daf0f2d902e27aae6bffc85d +Subproject commit 850985afc2f73cb14fa862d01b28591c94f81764 diff --git a/src/device_bindings.cpp b/src/device_bindings.cpp index 2fbd37e39..48094aceb 100644 --- a/src/device_bindings.cpp +++ b/src/device_bindings.cpp @@ -77,6 +77,43 @@ void init_binding_device(pybind11::module& m){ "Returns NN bounding-box to depth mapping as a dict of coords: off_x, off_y, max_w, max_h." ) + // calibration data bindings + .def( + "get_left_intrinsic", + &Device::get_left_intrinsic, + "Returns 3x3 matrix defining the intrinsic parameters of the left camera of the stereo setup." + ) + + .def( + "get_left_homography", + &Device::get_left_homography, + "Returns 3x3 matrix defining the homography to rectify the left camera of the stereo setup." + ) + + .def( + "get_right_intrinsic", + &Device::get_right_intrinsic, + "Returns 3x3 matrix defining the intrinsic parameters of the right camera of the stereo setup." + ) + + .def( + "get_right_homography", + &Device::get_right_homography, + "Returns 3x3 matrix defining the homography to rectify the right camera of the stereo setup." + ) + + .def( + "get_rotation", + &Device::get_rotation, + "Returns 3x3 matrix defining how much the right camera is rotated w.r.t left camera." + ) + + .def( + "get_Translation", + &Device::get_Translation, + "Returns a vector defining how much the right camera is translated w.r.t left camera." + ) + ; From 5a0f4a317f49cf1559088b9914ee6ddbc11f2ada Mon Sep 17 00:00:00 2001 From: GergelySzabolcs Date: Thu, 10 Sep 2020 07:24:50 +0300 Subject: [PATCH 02/12] Update depthai-core submodule --- depthai-core | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/depthai-core b/depthai-core index 850985afc..906c246c7 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit 850985afc2f73cb14fa862d01b28591c94f81764 +Subproject commit 906c246c71d620d60ee1082dcaebea194e6fdc25 From 3b60ed5ee1051bd1d71f10e4226cdef01b0d2453 Mon Sep 17 00:00:00 2001 From: saching13 Date: Fri, 11 Sep 2020 09:22:05 -0700 Subject: [PATCH 03/12] updated get_translation api --- depthai-core | 2 +- src/device_bindings.cpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/depthai-core b/depthai-core index cb1c0e5fa..dee61245d 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit cb1c0e5fa61647365d1f09ee0554cfb0455e3652 +Subproject commit dee61245d5ee80c20a1ad2e823b5c804e9e1a287 diff --git a/src/device_bindings.cpp b/src/device_bindings.cpp index 48094aceb..f6cedbc77 100644 --- a/src/device_bindings.cpp +++ b/src/device_bindings.cpp @@ -109,8 +109,8 @@ void init_binding_device(pybind11::module& m){ ) .def( - "get_Translation", - &Device::get_Translation, + "get_translation", + &Device::get_translation, "Returns a vector defining how much the right camera is translated w.r.t left camera." ) From 4bb2a5c39c288dab10d8bef40ed192c31a02a56d Mon Sep 17 00:00:00 2001 From: saching13 Date: Fri, 11 Sep 2020 18:22:03 -0700 Subject: [PATCH 04/12] replacing homography with R1 and R2 and adding distortion coefficients along with place holders for rgb camera calibrations. --- depthai-core | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/depthai-core b/depthai-core index dee61245d..a86c8fb60 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit dee61245d5ee80c20a1ad2e823b5c804e9e1a287 +Subproject commit a86c8fb6038574cd93de834697c694aa18060bc9 From 688461c6f43db289125cb0538f2c4d7af36375d5 Mon Sep 17 00:00:00 2001 From: saching13 Date: Mon, 14 Sep 2020 14:50:16 -0700 Subject: [PATCH 05/12] tested and fixed some syntax errors. Added version check and abort on EEPROM write in depthai-core --- depthai-core | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/depthai-core b/depthai-core index a86c8fb60..f653ea2f2 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit a86c8fb6038574cd93de834697c694aa18060bc9 +Subproject commit f653ea2f2e5e8672454fd7370a11aeeda905a1f7 From 77a973850a29cbe5f0018e3eebaf45bf81d828dc Mon Sep 17 00:00:00 2001 From: alex-luxonis Date: Tue, 15 Sep 2020 01:31:12 +0300 Subject: [PATCH 06/12] Update depthai-core submodule: EEPROM V5 --- depthai-core | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/depthai-core b/depthai-core index f653ea2f2..b87c19b0d 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit f653ea2f2e5e8672454fd7370a11aeeda905a1f7 +Subproject commit b87c19b0d97f6791ef2b256492c4560ac611d2bc From 670e597b9998ad9988a9135d981bff14f43be405 Mon Sep 17 00:00:00 2001 From: saching13 Date: Tue, 15 Sep 2020 08:37:35 -0700 Subject: [PATCH 07/12] fixed get_left_homography() by adding matrix ops --- depthai-core | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/depthai-core b/depthai-core index b87c19b0d..eb3306c12 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit b87c19b0d97f6791ef2b256492c4560ac611d2bc +Subproject commit eb3306c12d4d15dae10ac0d08e3e3470892eef72 From 868862917f914071519d2eb6ab724d5eedd8a1b6 Mon Sep 17 00:00:00 2001 From: saching13 Date: Tue, 15 Sep 2020 09:46:18 -0700 Subject: [PATCH 08/12] added math ops in depthai-core. mesh WIP and disbaled --- depthai-core | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/depthai-core b/depthai-core index eb3306c12..233e2ade2 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit eb3306c12d4d15dae10ac0d08e3e3470892eef72 +Subproject commit 233e2ade26be09bba85c756c317206405985f92f From 9c0aab6ef1a79f3d221918cedb2e5107b0a8eef3 Mon Sep 17 00:00:00 2001 From: saching13 Date: Tue, 15 Sep 2020 10:28:23 -0700 Subject: [PATCH 09/12] refactored depthai-core --- depthai-core | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/depthai-core b/depthai-core index 233e2ade2..ea49555bd 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit 233e2ade26be09bba85c756c317206405985f92f +Subproject commit ea49555bd159a80060cbde5a9af00a984a6b1e98 From 91b7696ba1d24ae47bdf86f64f7160041193f107 Mon Sep 17 00:00:00 2001 From: saching13 Date: Tue, 15 Sep 2020 10:43:41 -0700 Subject: [PATCH 10/12] added version check on calibration adjustments in depthai-core --- depthai-core | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/depthai-core b/depthai-core index ea49555bd..d0e8012e7 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit ea49555bd159a80060cbde5a9af00a984a6b1e98 +Subproject commit d0e8012e79987f5461f9c538cbfdf960a3ae845a From 4416f644753da859dfd6dcc992ebc8306f0fc653 Mon Sep 17 00:00:00 2001 From: saching13 Date: Tue, 15 Sep 2020 10:54:28 -0700 Subject: [PATCH 11/12] bug fix for version 3 depthai-core --- depthai-core | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/depthai-core b/depthai-core index d0e8012e7..3f266f83b 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit d0e8012e79987f5461f9c538cbfdf960a3ae845a +Subproject commit 3f266f83b95e1407cbf505dc8dc7230e2a9224ef From e7332dd90a143c80f75453cb58c7cf0115792905 Mon Sep 17 00:00:00 2001 From: alex-luxonis Date: Tue, 15 Sep 2020 23:00:48 +0300 Subject: [PATCH 12/12] Update depthai-core: rectified L/R swapping corrected --- depthai-core | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/depthai-core b/depthai-core index de0f796d2..3e6fd676b 160000 --- a/depthai-core +++ b/depthai-core @@ -1 +1 @@ -Subproject commit de0f796d20fa6f5914cadedf5f04202fe7b2bc56 +Subproject commit 3e6fd676b6df88451a115751408bc0e35f1120d4