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

{
  "schema": "multispec_module_params_v3",
  "saved_at": "2026-05-06 10:16:07",
  "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": 0,
        "theta_deg": 0.0
      }
    },
    "homographies": {
      "re_to_rgb": [
        [
          0.9836077983170345,
          -0.00414576215755023,
          -7.995670153079967
        ],
        [
          -0.009155951570825544,
          0.9872093474367271,
          65.61737450021248
        ],
        [
          -8.515127189657688e-06,
          -3.4530877754475106e-06,
          1.0
        ]
      ],
      "nir_to_rgb": [
        [
          0.9950840771095427,
          -0.01203311522937068,
          -0.37678489564225515
        ],
        [
          0.005818513521498549,
          0.9844634830519817,
          40.58679770900771
        ],
        [
          1.1689856045746963e-05,
          -1.643688958474221e-05,
          1.0
        ]
      ]
    },
    "crop_valid_common": true,
    "resize_after_crop": true,
    "target_size": null
  },
  "radiometric_config": {
    "enabled": true,
    "interval_s": 0.5,
    "verbose": true,
    "metering_mode": "global",
    "spectral_control_mode": "shared",
    "global_roi_pct": {
      "x0": 0.082812,
      "y0": 0.08,
      "x1": 0.903125,
      "y1": 0.905
    },
    "control_metric": "p50",
    "target_value": 0.4,
    "deadband": 0.04,
    "p95_limit": 0.94,
    "saturation_limit_pct": 1.0,
    "dark_limit_pct": 35.0,
    "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,
    "role_limits": {
      "rgb": {
        "exp_min_us": 100,
        "exp_max_us": 80000,
        "gain_min": 1.0,
        "gain_max": 4.0
      },
      "re": {
        "exp_min_us": 100,
        "exp_max_us": 80000,
        "gain_min": 1.0,
        "gain_max": 3.0
      },
      "nir": {
        "exp_min_us": 100,
        "exp_max_us": 80000,
        "gain_min": 1.0,
        "gain_max": 3.0
      }
    },
    "exp_apply_threshold_us": 80,
    "gain_apply_threshold": 0.05,
    "apply_same_spectral_to_both": true,
    "spectral_roles": [
      "re",
      "nir"
    ]
  },
  "rgb_calibration": {
    "enabled": true,
    "gains": {
      "R": 1.0,
      "G": 1.0,
      "B": 1.0
    }
  },
  "flatfield_config": {
    "enabled": true,
    "schema": "multispec_flatfield_v1",
    "created_at": "2026-05-06 10:14:01",
    "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": 0.5480560660362244,
        "gain_max": 1.6087802648544312,
        "gain_mean": 1.0039905309677124,
        "gain_std": 0.28920215368270874
      },
      "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": 0.5317091345787048,
        "gain_max": 1.8951553106307983,
        "gain_mean": 1.0328274965286255,
        "gain_std": 0.3529214859008789
      },
      "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": 0.5656915903091431,
        "gain_max": 1.8551995754241943,
        "gain_mean": 1.0326939821243286,
        "gain_std": 0.3330632746219635
      },
      "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,
          1600
        ],
        "gain_min": 0.955564022064209,
        "gain_max": 4.0,
        "gain_mean": 1.2053359746932983,
        "gain_std": 0.28413665294647217
      },
      "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,
          1600
        ],
        "gain_min": 0.8534727096557617,
        "gain_max": 4.0,
        "gain_mean": 1.146588921546936,
        "gain_std": 0.4995245635509491
      }
    },
    "exp_gain_correct_during_flat_capture": true,
    "smooth_ksize": 31,
    "min_gain": 0.25,
    "max_gain": 4.0,
    "notes": ""
  }
}