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Fix OAK-D-LITE size mismatch #1246

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Fix OAK-D-LITE size mismatch #1246

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123 changes: 80 additions & 43 deletions calibrate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@

import json
import shutil
import tempfile

import time
import math
Expand Down Expand Up @@ -766,6 +767,16 @@ def empty_calibration(self, calib: dai.CalibrationHandler):
for attr in ["boardName", "boardRev"]:
if getattr(data, attr): return False
return True

def enforce_stereo_calibration_flags(self, calib_path: str):
with open(calib_path, "r", encoding="utf-8") as calib_file:
calib_json = json.load(calib_file)

calib_json["stereoUseSpecTranslation"] = False
calib_json["stereoEnableDistortionCorrection"] = True

with open(calib_path, "w", encoding="utf-8") as calib_file:
json.dump(calib_json, calib_file, indent=4)

def capture_images_sync(self):
finished = False
Expand Down Expand Up @@ -887,9 +898,18 @@ def capture_images_sync(self):
imgFrame = imgFrame[height_offset:height_offset+resizeHeight, :]

height, width, _ = imgFrame.shape
height_offset = (resizeHeight - height)//2
width_offset = (resizeWidth - width)//2
subImage = np.pad(imgFrame, ((height_offset, height_offset), (width_offset, width_offset), (0, 0)), 'constant', constant_values=0)
pad_h = max(0, resizeHeight - height)
pad_w = max(0, resizeWidth - width)
pad_top = pad_h // 2
pad_bottom = pad_h - pad_top
pad_left = pad_w // 2
pad_right = pad_w - pad_left
subImage = np.pad(
imgFrame,
((pad_top, pad_bottom), (pad_left, pad_right), (0, 0)),
'constant',
constant_values=0,
)
if self.coverageImages[name] is not None:
if len(self.coverageImages[name].shape) != 3:
self.coverageImages[name] = cv2.cvtColor(self.coverageImages[name], cv2.COLOR_GRAY2RGB)
Expand All @@ -904,12 +924,16 @@ def capture_images_sync(self):
height_offset = (height - resizeHeight)//2
imgFrame = imgFrame[height_offset:height_offset+resizeHeight, :]
height, width, _ = imgFrame.shape
height_offset = (resizeHeight - height)//2
width_offset = (resizeWidth - width)//2
padding = ((height_offset, height_offset), (width_offset,width_offset), (0, 0))
pad_h = max(0, resizeHeight - height)
pad_w = max(0, resizeWidth - width)
pad_top = pad_h // 2
pad_bottom = pad_h - pad_top
pad_left = pad_w // 2
pad_right = pad_w - pad_left
padding = ((pad_top, pad_bottom), (pad_left, pad_right), (0, 0))
subCoverageImage = np.pad(imgFrame, padding, 'constant', constant_values=0)
print_text = f"Camera: {name}, picture {self.images_captured}"
cv2.putText(subCoverageImage, print_text, (15, 15+height_offset), cv2.FONT_HERSHEY_SIMPLEX, 2*imgFrame.shape[0]/1750, (0, 0, 0), 2)
cv2.putText(subCoverageImage, print_text, (15, 15 + pad_top), cv2.FONT_HERSHEY_SIMPLEX, 2*imgFrame.shape[0]/1750, (0, 0, 0), 2)
if combinedCoverageImage is None:
combinedCoverageImage = subCoverageImage
else:
Expand Down Expand Up @@ -1153,52 +1177,65 @@ def calibrate(self):
print(f'EEPROM VERSION being flashed is -> {eeepromData.version}')
eeepromData.version = 7
print(f'EEPROM VERSION being flashed is -> {eeepromData.version}')
if not self.args.useDepthaiV3:
mx_serial_id = self.device.getDeviceInfo().getMxId()

if not self.args.debugProcessingMode:
if not self.args.useDepthaiV3:
mx_serial_id = self.device.getDeviceInfo().getMxId()
else:
mx_serial_id = self.device.getDeviceId()
else:
mx_serial_id = self.device.getDeviceId()
mx_serial_id = Path(self.dataset_path).name

date_time_string = datetime.now().strftime("_%m_%d_%y_%H_%M")
file_name = mx_serial_id + date_time_string
calib_dest_path = dest_path + '/' + file_name + '.json'
with tempfile.NamedTemporaryFile(mode="w", suffix=".json", delete=False) as temp_calib_file:
temp_calib_path = temp_calib_file.name

calibration_handler.eepromToJsonFile(temp_calib_path)
self.enforce_stereo_calibration_flags(temp_calib_path)
calibration_handler = dai.CalibrationHandler(temp_calib_path)
calibration_handler.eepromToJsonFile(calib_dest_path)
print(f"Calibration JSON saved to: {calib_dest_path}")
if self.args.saveCalibPath:
Path(self.args.saveCalibPath).parent.mkdir(parents=True, exist_ok=True)
calibration_handler.eepromToJsonFile(self.args.saveCalibPath)
# try:
self.device.flashCalibration(calibration_handler)
is_write_succesful = True
# except RuntimeError as e:
# is_write_succesful = False
# print(e)
# print("Writing in except...")
# is_write_succesful = self.device.flashCalibration2(calibration_handler)

if self.args.factoryCalibration:
try:
self.device.flashFactoryCalibration(calibration_handler)
is_write_factory_sucessful = True
except RuntimeError:
print("flashFactoryCalibration Failed...")
is_write_factory_sucessful = False

if is_write_succesful:
if not self.args.debugProcessingMode:
print(f"Calibration JSON saved to: {self.args.saveCalibPath}")

if not self.args.debugProcessingMode:
print('Flashing Calibration data into ')
# try:
self.device.flashCalibration(calibration_handler)
is_write_succesful = True
# except RuntimeError as e:
# is_write_succesful = False
# print(e)
# print("Writing in except...")
# is_write_succesful = self.device.flashCalibration2(calibration_handler)

if self.args.factoryCalibration:
try:
self.device.flashFactoryCalibration(calibration_handler)
is_write_factory_sucessful = True
except RuntimeError:
print("flashFactoryCalibration Failed...")
is_write_factory_sucessful = False

if is_write_succesful:
self.device.close()
text = "EEPROM written succesfully"
resImage = create_blank(900, 512, rgb_color=green)
cv2.putText(resImage, text, (10, 250), font, 2, (0, 0, 0), 2)
cv2.imshow("Result Image", resImage)
cv2.waitKey(0)

else:
if not self.args.debugProcessingMode:
text = "EEPROM written succesfully"
resImage = create_blank(900, 512, rgb_color=green)
cv2.putText(resImage, text, (10, 250), font, 2, (0, 0, 0), 2)
cv2.imshow("Result Image", resImage)
cv2.waitKey(0)
else:
self.device.close()
text = "EEPROM write Failed!!"
resImage = create_blank(900, 512, rgb_color=red)
cv2.putText(resImage, text, (10, 250), font, 2, (0, 0, 0), 2)
cv2.imshow("Result Image", resImage)
cv2.waitKey(0)
# return (False, "EEPROM write Failed!!")
text = "EEPROM write Failed!!"
resImage = create_blank(900, 512, rgb_color=red)
cv2.putText(resImage, text, (10, 250), font, 2, (0, 0, 0), 2)
cv2.imshow("Result Image", resImage)
cv2.waitKey(0)
# return (False, "EEPROM write Failed!!")

else:
if not self.args.debugProcessingMode:
Expand Down
2 changes: 1 addition & 1 deletion resources/depthai_boards
Open in desktop
Submodule depthai_boards updated 221 files
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