Calibration

This part of the configuration file sets the calibration and cameras used in the capturer.

The calibration consists of the transformation matrices (aka trafos) to apply to each cameras' reconstruction to convert it to world coordinates so all cameras produce a single coherent reconstruction.

The calibration can be given in two ways:

• object with the serials of the cameras as keys and their calibration as values.
  • trafo: transformation matrices in camera poses (camera to world transformation) and converted to an array as row-major.
• List if serials: use only those cameras with identity as trafo.
• Empty or not given: use all connected cameras with identity as trafo (i.e. no transformation will be applied)

Datasets

In the case of datasets the calibration object has a different behaviour that also depends on what is configured in the device > input_calib configuration field

• metadata: will ignore any calibration configuration given in the config file
• cameraconfig:
  • object: Use the cameras and trafos given. Make sure all given cameras are in the dataset
  • List of serials: use the subset of cameras given of the dataset with the trafos in the metadata file.
  • empty: Use all cameras in the dataset with identity as trafo
    • used to recalibrate the dataset, but only possible if the calibration board is present in the recording.

Examples

Object

{
  "calibration": {
    "serial1": {
      "trafo": [
        -0.05886144588988399,
        0.6470633312384931,
        0.7601607563892637,
        -1.5074688106255645,
        -0.9947225168223668,
        -0.10212255796958802,
        0.009904427309258989,
        1.0046753124528724,
        0.08403835263930706,
        -0.7555660318729881,
        0.649659546813082,
        -1.2734853451183372,
        0.0,
        0.0,
        0.0,
        1.0
      ]
    },
    "serial2": [
        -0.06056542550798173,
        0.6765674584347038,
        -0.7338857563819049,
        1.2853098735173205,
        -0.9943069623652657,
        0.02368107619577089,
        0.10388874444416288,
        0.971057455455615,
        0.08766694830443039,
        0.735999783163977,
        0.6712814799751137,
        -1.4528672517371737,
        0.0,
        0.0,
        0.0,
        1.0
    ]
  }
}

List of Serials

{
  "calibration": ["serial1", "serial3"]
}