agrobot_base/Python/OAK/datasets/oak-fcc-3/calibration/module_params.json

{
  "schema": "multispec_module_params_v3",
  "saved_at": "2026-05-12 10:07:11",
  "frame_type": "RAW_BRUTO",
  "capture_mode_requested": "AUTO",
  "capture_mode_effective": "AUTO",
  "raw_policy": "allow_single",
  "sensor_width": 1280,
  "sensor_height": 800,
  "bayer_pattern": "RGGB",
  "camera_settings": {
    "rgb": {
      "ae_enable": false,
      "awb_enable": false,
      "exposure_time_us": 2000,
      "analogue_gain": 1.0,
      "colour_gains": [
        1.0,
        1.0
      ]
    },
    "re": {
      "ae_enable": false,
      "awb_enable": false,
      "exposure_time_us": 5000,
      "analogue_gain": 1.0,
      "colour_gains": null
    },
    "nir": {
      "ae_enable": false,
      "awb_enable": false,
      "exposure_time_us": 5000,
      "analogue_gain": 1.0,
      "colour_gains": null
    }
  },
  "fusion_config": {
    "alignment_mode": "homography",
    "baseline_mm": 75.0,
    "reference_camera": "rgb",
    "manual_offsets": {
      "re": {
        "dx": 0,
        "dy": 0,
        "theta_deg": 0.0
      },
      "nir": {
        "dx": 0,
        "dy": 1,
        "theta_deg": 0.0
      }
    },
    "homographies": {
      "re_to_rgb": [
        [
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          -29.324436886060216
        ],
        [
          -0.0006574806439193652,
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          14.764772434233967
        ],
        [
          2.9808004869914425e-05,
          4.923907858473237e-05,
          1.0
        ]
      ],
      "nir_to_rgb": [
        [
          0.9558631674418693,
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          15.945493687241475
        ],
        [
          -0.006564602087683463,
          0.9523096250606489,
          25.562927061709274
        ],
        [
          -1.9551531458452607e-05,
          -3.195760232703846e-05,
          0.9999999999999999
        ]
      ]
    },
    "crop_valid_common": true,
    "resize_after_crop": true,
    "target_size": null
  },
  "radiometric_config": {
    "enabled": true,
    "interval_s": 0.25,
    "verbose": true,
    "metering_mode": "reference_patches",
    "spectral_control_mode": "shared",
    "control_metric": "p50",
    "target_value": 0.5,
    "deadband": 0.035,
    "p95_limit": 0.94,
    "saturation_limit_pct": 0.5,
    "alpha": 0.18,
    "exp_step_gain": 0.55,
    "prefer_exposure": true,
    "exp_min_us": 100,
    "exp_max_us": 80000,
    "gain_min": 1.0,
    "gain_max": 4.0,
    "reference_patches": [
      {
        "name": "black_reference",
        "type": "black",
        "roles": [
          "rgb",
          "re",
          "nir"
        ],
        "roi_pct": {
          "x0": 0.304688,
          "y0": 0.8275,
          "x1": 0.364063,
          "y1": 0.9875
        },
        "target_value": 0.08,
        "weight": 0.7,
        "roi_pct_by_role": {
          "rgb": {
            "x0": 0.304688,
            "y0": 0.8275,
            "x1": 0.364063,
            "y1": 0.9875
          },
          "re": {
            "x0": 0.275,
            "y0": 0.8225,
            "x1": 0.334375,
            "y1": 0.995
          },
          "nir": {
            "x0": 0.3375,
            "y0": 0.8325,
            "x1": 0.4,
            "y1": 0.9925
          }
        },
        "roi_list_by_role": {
          "rgb": [
            {
              "name": "rgb_legacy_01",
              "enabled": true,
              "roi_pct": {
                "x0": 0.304688,
                "y0": 0.8275,
                "x1": 0.364063,
                "y1": 0.9875
              },
              "created_at": "2026-05-07 14:36:25",
              "updated_at": "2026-05-12 09:53:26"
            }
          ],
          "re": [
            {
              "name": "re_legacy_01",
              "enabled": true,
              "roi_pct": {
                "x0": 0.275,
                "y0": 0.8225,
                "x1": 0.334375,
                "y1": 0.995
              },
              "created_at": "2026-05-07 14:36:25",
              "updated_at": "2026-05-12 09:54:15"
            }
          ],
          "nir": [
            {
              "name": "nir_legacy_01",
              "enabled": true,
              "roi_pct": {
                "x0": 0.3375,
                "y0": 0.8325,
                "x1": 0.4,
                "y1": 0.9925
              },
              "created_at": "2026-05-07 14:36:25",
              "updated_at": "2026-05-12 09:54:44"
            }
          ]
        }
      },
      {
        "name": "gray_reference",
        "type": "gray",
        "roles": [
          "rgb",
          "re",
          "nir"
        ],
        "roi_pct": {
          "x0": 0.238281,
          "y0": 0.82625,
          "x1": 0.298438,
          "y1": 0.9875
        },
        "target_value": 0.35,
        "target_value_by_role": {
          "rgb": 0.34,
          "re": 0.24,
          "nir": 0.3
        },
        "weight": 1.0,
        "roi_pct_by_role": {
          "rgb": {
            "x0": 0.238281,
            "y0": 0.82625,
            "x1": 0.298438,
            "y1": 0.9875
          },
          "re": {
            "x0": 0.203125,
            "y0": 0.82625,
            "x1": 0.266406,
            "y1": 0.995
          },
          "nir": {
            "x0": 0.266406,
            "y0": 0.83125,
            "x1": 0.332031,
            "y1": 0.99625
          }
        },
        "roi_list_by_role": {
          "rgb": [
            {
              "name": "rgb_legacy_01",
              "enabled": true,
              "roi_pct": {
                "x0": 0.238281,
                "y0": 0.82625,
                "x1": 0.298438,
                "y1": 0.9875
              },
              "created_at": "2026-05-07 14:36:25",
              "updated_at": "2026-05-12 09:53:18"
            }
          ],
          "re": [
            {
              "name": "re_legacy_01",
              "enabled": true,
              "roi_pct": {
                "x0": 0.203125,
                "y0": 0.82625,
                "x1": 0.266406,
                "y1": 0.995
              },
              "created_at": "2026-05-07 14:36:25",
              "updated_at": "2026-05-12 09:53:55"
            }
          ],
          "nir": [
            {
              "name": "nir_legacy_01",
              "enabled": true,
              "roi_pct": {
                "x0": 0.266406,
                "y0": 0.83125,
                "x1": 0.332031,
                "y1": 0.99625
              },
              "created_at": "2026-05-07 14:36:25",
              "updated_at": "2026-05-12 09:54:33"
            }
          ]
        }
      },
      {
        "name": "white_reference",
        "type": "white",
        "roles": [
          "rgb",
          "re",
          "nir"
        ],
        "roi_pct": {
          "x0": 0.166406,
          "y0": 0.82625,
          "x1": 0.228906,
          "y1": 0.99125
        },
        "target_value": 0.82,
        "weight": 0.8,
        "roi_pct_by_role": {
          "rgb": {
            "x0": 0.166406,
            "y0": 0.82625,
            "x1": 0.228906,
            "y1": 0.99125
          },
          "re": {
            "x0": 0.132812,
            "y0": 0.82625,
            "x1": 0.194531,
            "y1": 0.995
          },
          "nir": {
            "x0": 0.195312,
            "y0": 0.83625,
            "x1": 0.260156,
            "y1": 0.99125
          }
        },
        "roi_list_by_role": {
          "rgb": [
            {
              "name": "rgb_legacy_01",
              "enabled": true,
              "roi_pct": {
                "x0": 0.166406,
                "y0": 0.82625,
                "x1": 0.228906,
                "y1": 0.99125
              },
              "created_at": "2026-05-07 14:36:25",
              "updated_at": "2026-05-12 09:53:36"
            }
          ],
          "re": [
            {
              "name": "re_legacy_01",
              "enabled": true,
              "roi_pct": {
                "x0": 0.132812,
                "y0": 0.82625,
                "x1": 0.194531,
                "y1": 0.995
              },
              "created_at": "2026-05-07 14:36:25",
              "updated_at": "2026-05-12 09:54:04"
            }
          ],
          "nir": [
            {
              "name": "nir_legacy_01",
              "enabled": true,
              "roi_pct": {
                "x0": 0.195312,
                "y0": 0.83625,
                "x1": 0.260156,
                "y1": 0.99125
              },
              "created_at": "2026-05-07 14:36:25",
              "updated_at": "2026-05-12 09:54:56"
            }
          ]
        }
      }
    ],
    "exp_apply_threshold_us": 80,
    "gain_apply_threshold": 0.05,
    "apply_same_spectral_to_both": true,
    "spectral_roles": [
      "re",
      "nir"
    ],
    "dark_limit_pct": 35.0,
    "control_strategy": "ratio",
    "ratio_alpha": 0.35,
    "ratio_min": 0.65,
    "ratio_max": 1.35,
    "reduce_fast_factor": 0.8,
    "factor_min": 0.55,
    "factor_max": 1.28,
    "gain_return_enabled": true,
    "gain_reduce_on_saturation": true,
    "gain_increase_required_cycles": 5,
    "gain_decrease_required_cycles": 2,
    "gain_step_up": 0.2,
    "gain_step_down": 0.5,
    "gain_hard_reset_on_saturation": false,
    "exp_high_ratio_for_gain": 0.95,
    "exp_low_ratio_for_gain_return": 0.75,
    "role_limits": {
      "rgb": {
        "exp_min_us": 100,
        "exp_max_us": 80000,
        "gain_min": 1.0,
        "gain_max": 2.0
      },
      "re": {
        "exp_min_us": 100,
        "exp_max_us": 2500,
        "gain_min": 1.0,
        "gain_max": 2.0
      },
      "nir": {
        "exp_min_us": 100,
        "exp_max_us": 3000,
        "gain_min": 1.0,
        "gain_max": 2.0
      }
    },
    "ready_required_cycles": 3,
    "patch_control_mode": "gray_primary",
    "patch_require_order": true,
    "patch_min_separation": 0.08,
    "patch_white_sat_limit_pct": 0.5,
    "patch_white_p95_limit": 0.94,
    "patch_black_dark_limit_pct": 80.0,
    "patch_black_max_p50": 0.2,
    "patch_gray_min_p50": 0.08,
    "patch_gray_max_p50": 0.85,
    "patch_roi_contract": "multi_roi_by_role_v1",
    "patch_roi_reduce_method": "median_valid_rois",
    "patch_roi_outlier_reject": true,
    "patch_roi_max_p50_delta": 0.12,
    "global_saturation_guard_enabled": true,
    "global_guard_roi_pct": {
      "x0": 0.05,
      "y0": 0.05,
      "x1": 0.95,
      "y1": 0.95
    },
    "global_guard_sat_threshold": 0.985,
    "global_guard_near_sat_threshold": 0.94,
    "global_guard_sat_pct_soft": 0.05,
    "global_guard_sat_pct_hard": 0.2,
    "global_guard_sat_pct_extreme": 0.8,
    "global_guard_blob_pct_soft": 0.015,
    "global_guard_blob_pct_hard": 0.08,
    "global_guard_blob_pct_extreme": 0.25,
    "global_guard_min_blob_px": 48,
    "global_guard_downsample_max_side": 320,
    "global_guard_reduce_factor_soft": 0.82,
    "global_guard_reduce_factor_hard": 0.6,
    "global_guard_reduce_factor_extreme": 0.35,
    "sun_guard_enabled": true,
    "sun_guard_p99_threshold": 0.9,
    "sun_guard_near_sat_pct_threshold": 0.8,
    "sun_guard_freeze_increase_cycles": 2,
    "sun_guard_allow_decrease": true,
    "guard_force_apply_enabled": true,
    "guard_force_apply_soft": true,
    "guard_force_apply_hard": true,
    "guard_force_apply_extreme": true,
    "guard_force_apply_on_patch_saturation": true,
    "guard_freeze_cycles_soft": 3,
    "guard_freeze_cycles_hard": 5,
    "guard_freeze_cycles_extreme": 8,
    "guard_reapply_min_exp_on_emergency": true,
    "guard_min_exp_margin_us": 80
  },
  "radiometric_normalization": {
    "enabled": false,
    "method": "exposure_gain_reference",
    "apply_stage": "after_dark_before_flat_gain",
    "reference_controls": {
      "rgb": {
        "exposure_time_us": 3000,
        "analogue_gain": 1.0
      },
      "re": {
        "exposure_time_us": 7000,
        "analogue_gain": 1.0
      },
      "nir": {
        "exposure_time_us": 7000,
        "analogue_gain": 1.0
      }
    },
    "clip_output": true
  },
  "patch_normalization": {
    "enabled": true,
    "apply_when_metering_mode": "reference_patches",
    "apply_stage": "after_fusion",
    "method": "gray_scale_with_white_guard",
    "space": "multispec_tensor",
    "targets": {
      "black": 0.06,
      "gray": 0.4,
      "white": 0.78
    },
    "white_guard_max": 0.92,
    "scale_min": 0.35,
    "scale_max": 2.5,
    "clip_output": true,
    "require_valid_gray": true,
    "use_black_for_offset": false,
    "save_patch_stats": true
  },
  "rgb_calibration": {
    "enabled": true,
    "gains": {
      "R": 1.2500000000000002,
      "G": 1.0,
      "B": 1.5500000000000005
    }
  },
  "flatfield_config": {
    "enabled": true,
    "subtract_dark": true,
    "schema": "multispec_flatfield_v1",
    "created_at": "2026-05-08 15:26:18",
    "json_file": "calibration/flatfield_maps_v1.json",
    "npz_file": "calibration/flatfield_maps_v1.npz",
    "apply_before_fusion": true,
    "apply_after_decode": true,
    "apply_space": "native_camera_space",
    "map_type": "gain",
    "formula": "channel_corrected = max(channel_linear - dark, 0) * gain_map",
    "channels": [
      "R",
      "G",
      "B",
      "RE",
      "NIR"
    ],
    "channel_maps": {
      "R": {
        "gain_key": "gain_R",
        "flat_norm_key": "flat_norm_R",
        "white_median_key": "white_median_R",
        "dark_median_key": "dark_median_R",
        "shape": [
          400,
          640
        ],
        "gain_min": 0.6047894954681396,
        "gain_max": 1.7825754880905151,
        "gain_mean": 1.077973484992981,
        "gain_std": 0.3330462872982025
      },
      "G": {
        "gain_key": "gain_G",
        "flat_norm_key": "flat_norm_G",
        "white_median_key": "white_median_G",
        "dark_median_key": "dark_median_G",
        "shape": [
          400,
          640
        ],
        "gain_min": 0.535053014755249,
        "gain_max": 1.6048510074615479,
        "gain_mean": 1.0092605352401733,
        "gain_std": 0.29722487926483154
      },
      "B": {
        "gain_key": "gain_B",
        "flat_norm_key": "flat_norm_B",
        "white_median_key": "white_median_B",
        "dark_median_key": "dark_median_B",
        "shape": [
          400,
          640
        ],
        "gain_min": 0.5684313178062439,
        "gain_max": 1.6688997745513916,
        "gain_mean": 1.0110775232315063,
        "gain_std": 0.3016279637813568
      },
      "RE": {
        "gain_key": "gain_RE",
        "flat_norm_key": "flat_norm_RE",
        "white_median_key": "white_median_RE",
        "dark_median_key": "dark_median_RE",
        "shape": [
          800,
          1280
        ],
        "gain_min": 0.7832612991333008,
        "gain_max": 1.8540745973587036,
        "gain_mean": 1.099328637123108,
        "gain_std": 0.259878933429718
      },
      "NIR": {
        "gain_key": "gain_NIR",
        "flat_norm_key": "flat_norm_NIR",
        "white_median_key": "white_median_NIR",
        "dark_median_key": "dark_median_NIR",
        "shape": [
          800,
          1280
        ],
        "gain_min": 0.7467380166053772,
        "gain_max": 1.8378677368164062,
        "gain_mean": 1.0630955696105957,
        "gain_std": 0.23178784549236298
      }
    },
    "exp_gain_correct_during_flat_capture": false,
    "smooth_ksize": 31,
    "min_gain": 0.25,
    "max_gain": 4.0,
    "notes": ""
  }
}