547 lines
19 KiB
Python
547 lines
19 KiB
Python
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import argparse
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import json
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import math
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import time
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from pathlib import Path
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from typing import Any, Dict, List, Optional, Tuple
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import numpy as np
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try:
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import depthai as dai
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except Exception as e:
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raise RuntimeError(
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"Nao consegui importar depthai. Ative o venv correto e instale depthai antes de rodar. "
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f"Erro original: {e}"
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)
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# ============================================================
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# OAK-FCC-3P Calibration Probe
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# ------------------------------------------------------------
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# Objetivo:
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# Ler o que existe de calibracao no device OAK/DepthAI:
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# - cameras conectadas
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# - sockets / sensores
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# - intrinsecos por camera, quando disponivel
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# - distorcao por camera, quando disponivel
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# - extrinsecos entre pares CAM_A/CAM_B/CAM_C
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# - baseline estimado, quando a API permitir
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# - dump JSON bruto da calibracao, quando disponivel
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#
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# Uso:
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# python -m utils.calibration_probe --out_dir calibration_probe_out
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#
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# Para escolher device por MXID:
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# python -m utils.calibration_probe --mx_id 194430108133AC2F00
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# ============================================================
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# ============================================================
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# Helpers gerais
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# ============================================================
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def to_jsonable(x: Any):
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if x is None:
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return None
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if isinstance(x, (str, int, float, bool)):
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if isinstance(x, float) and (math.isnan(x) or math.isinf(x)):
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return None
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return x
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if isinstance(x, np.ndarray):
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return x.tolist()
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if isinstance(x, (list, tuple)):
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return [to_jsonable(v) for v in x]
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if isinstance(x, dict):
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return {str(k): to_jsonable(v) for k, v in x.items()}
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try:
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return str(x)
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except Exception:
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return repr(x)
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def safe_call(label: str, fn, *args, default=None, verbose: bool = False):
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try:
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return fn(*args)
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except Exception as e:
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if verbose:
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print(f"[WARN] {label} falhou: {type(e).__name__}: {e}")
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return default
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def get_device_id_from_info(dev_info) -> Optional[str]:
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for name in ("getMxId", "getDeviceId"):
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try:
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fn = getattr(dev_info, name, None)
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if callable(fn):
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value = fn()
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if value:
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return str(value)
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except Exception:
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pass
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for attr in ("mxid", "deviceId", "name"):
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try:
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value = getattr(dev_info, attr, None)
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if value:
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return str(value)
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except Exception:
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pass
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return None
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def resolve_device_info(mx_id: Optional[str] = None):
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devices = dai.Device.getAllAvailableDevices()
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if not devices:
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raise RuntimeError("Nenhum dispositivo DepthAI/OAK encontrado.")
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if not mx_id:
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return devices[0]
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target = str(mx_id).strip()
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for dev_info in devices:
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dev_id = get_device_id_from_info(dev_info)
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if dev_id == target:
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return dev_info
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available = [get_device_id_from_info(d) or str(d) for d in devices]
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raise RuntimeError(f"Device mx_id='{target}' nao encontrado. Disponiveis={available}")
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def socket_from_name(name: str):
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name = str(name).strip().upper()
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aliases = {
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"A": "CAM_A",
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"B": "CAM_B",
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"C": "CAM_C",
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"D": "CAM_D",
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"RGB": "CAM_A",
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"LEFT": "CAM_B",
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"RIGHT": "CAM_C",
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}
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name = aliases.get(name, name)
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if hasattr(dai.CameraBoardSocket, name):
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return getattr(dai.CameraBoardSocket, name)
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legacy = {
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"CAM_A": getattr(dai.CameraBoardSocket, "RGB", None),
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"CAM_B": getattr(dai.CameraBoardSocket, "LEFT", None),
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"CAM_C": getattr(dai.CameraBoardSocket, "RIGHT", None),
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"CAM_D": getattr(dai.CameraBoardSocket, "CAM_D", None),
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}
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if legacy.get(name) is not None:
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return legacy[name]
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raise ValueError(f"Socket invalido: {name}")
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def socket_name(socket_obj) -> str:
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try:
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return str(socket_obj.name)
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except Exception:
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return str(socket_obj)
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def matrix_shape_ok(m, rows: int, cols: int) -> bool:
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try:
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arr = np.asarray(m, dtype=np.float64)
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return arr.shape == (rows, cols) and np.all(np.isfinite(arr))
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except Exception:
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return False
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def flatten_matrix(m):
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try:
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return np.asarray(m, dtype=np.float64).tolist()
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except Exception:
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return to_jsonable(m)
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# ============================================================
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# Calibration read helpers
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# ============================================================
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def read_calibration(device, verbose: bool = False):
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# Contratos comuns: readCalibration(), readCalibration2().
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for method in ("readCalibration", "readCalibration2"):
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fn = getattr(device, method, None)
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if callable(fn):
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calib = safe_call(method, fn, default=None, verbose=verbose)
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if calib is not None:
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print(f"[OK] Calibracao lida via device.{method}()")
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return calib, method
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raise RuntimeError("Nao encontrei device.readCalibration/readCalibration2 nesta versao do DepthAI.")
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def dump_calibration_json(calib, out_dir: Path, verbose: bool = False) -> Dict[str, Any]:
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"""Tenta extrair dump bruto da calibracao por varios contratos de API."""
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result = {
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"available": False,
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"method": None,
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"path": None,
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"data": None,
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"error": None,
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}
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# 1) eepromToJson() costuma devolver dict/json.
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for method in ("eepromToJson", "toJson"):
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fn = getattr(calib, method, None)
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if callable(fn):
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try:
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data = fn()
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if isinstance(data, str):
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try:
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data_obj = json.loads(data)
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except Exception:
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data_obj = data
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else:
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data_obj = data
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path = out_dir / f"calibration_{method}.json"
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with open(path, "w", encoding="utf-8") as f:
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json.dump(to_jsonable(data_obj), f, ensure_ascii=False, indent=2)
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result.update({"available": True, "method": method, "path": str(path), "data": to_jsonable(data_obj)})
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print(f"[OK] Dump bruto salvo via calib.{method}(): {path}")
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return result
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except Exception as e:
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result["error"] = f"{method}: {type(e).__name__}: {e}"
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if verbose:
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print(f"[WARN] dump {method} falhou: {e}")
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# 2) Alguns handlers escrevem direto em arquivo.
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for method in ("saveToJsonFile", "saveCalibrationFile", "saveToFile"):
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fn = getattr(calib, method, None)
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if callable(fn):
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path = out_dir / f"calibration_{method}.json"
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try:
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fn(str(path))
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result.update({"available": True, "method": method, "path": str(path), "data": None})
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print(f"[OK] Dump bruto salvo via calib.{method}(): {path}")
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return result
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except Exception as e:
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result["error"] = f"{method}: {type(e).__name__}: {e}"
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if verbose:
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print(f"[WARN] dump {method} falhou: {e}")
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print("[WARN] Nao consegui gerar dump JSON bruto da calibracao por API conhecida.")
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return result
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def get_connected_cameras(device) -> List[Dict[str, Any]]:
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features = safe_call("getConnectedCameraFeatures", device.getConnectedCameraFeatures, default=[], verbose=False)
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out = []
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for f in features:
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item = {}
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try:
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item["socket"] = socket_name(f.socket)
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except Exception:
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item["socket"] = None
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for attr in ("sensorName", "width", "height", "orientation", "supportedTypes"):
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try:
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v = getattr(f, attr, None)
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item[attr] = to_jsonable(v)
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except Exception:
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pass
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out.append(item)
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return out
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def get_intrinsics(calib, socket, width: int, height: int, verbose: bool = False):
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# Contratos comuns:
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# getCameraIntrinsics(socket)
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# getCameraIntrinsics(socket, width, height)
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fn = getattr(calib, "getCameraIntrinsics", None)
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if not callable(fn):
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return None, "missing:getCameraIntrinsics"
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for args in ((socket, width, height), (socket,)):
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try:
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value = fn(*args)
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if value is not None:
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return flatten_matrix(value), f"getCameraIntrinsics{len(args)}args"
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except Exception as e:
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if verbose:
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print(f"[WARN] intrinsics {socket_name(socket)} args={len(args)} falhou: {e}")
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return None, "failed:getCameraIntrinsics"
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def get_distortion(calib, socket, verbose: bool = False):
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for method in ("getDistortionCoefficients", "getDistortionCoeff"):
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fn = getattr(calib, method, None)
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if callable(fn):
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try:
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value = fn(socket)
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return to_jsonable(value), method
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except Exception as e:
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if verbose:
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print(f"[WARN] distortion {socket_name(socket)} {method} falhou: {e}")
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return None, "missing:distortion"
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def get_fov(calib, socket, verbose: bool = False):
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fn = getattr(calib, "getFov", None)
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if callable(fn):
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try:
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return float(fn(socket)), "getFov"
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except Exception as e:
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if verbose:
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print(f"[WARN] fov {socket_name(socket)} falhou: {e}")
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return None, "missing:getFov"
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def get_extrinsics(calib, src_socket, dst_socket, verbose: bool = False):
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fn = getattr(calib, "getCameraExtrinsics", None)
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if not callable(fn):
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return None, "missing:getCameraExtrinsics"
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# Contratos comuns:
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# getCameraExtrinsics(src, dst)
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# getCameraExtrinsics(src, dst, useSpecTranslation)
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for args in ((src_socket, dst_socket), (src_socket, dst_socket, False), (src_socket, dst_socket, True)):
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try:
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value = fn(*args)
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if value is not None:
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return flatten_matrix(value), f"getCameraExtrinsics{len(args)}args"
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except Exception as e:
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if verbose:
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print(f"[WARN] extrinsics {socket_name(src_socket)}->{socket_name(dst_socket)} args={len(args)} falhou: {e}")
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return None, "failed:getCameraExtrinsics"
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def get_baseline(calib, src_socket, dst_socket, verbose: bool = False):
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# Varia entre versoes; em algumas, getBaselineDistance(cam1, cam2, useSpecTranslation)
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fn = getattr(calib, "getBaselineDistance", None)
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if callable(fn):
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for args in ((src_socket, dst_socket), (src_socket, dst_socket, False), (src_socket, dst_socket, True)):
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try:
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value = fn(*args)
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if value is not None:
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return float(value), f"getBaselineDistance{len(args)}args"
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except Exception as e:
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if verbose:
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print(f"[WARN] baseline {socket_name(src_socket)}-{socket_name(dst_socket)} args={len(args)} falhou: {e}")
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# Fallback: calcula norma da translacao da matriz 4x4, se existir.
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ext, method = get_extrinsics(calib, src_socket, dst_socket, verbose=False)
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if ext is not None:
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try:
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arr = np.asarray(ext, dtype=np.float64)
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if arr.shape == (4, 4):
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t = arr[:3, 3]
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return float(np.linalg.norm(t)), f"norm_translation_from_{method}"
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except Exception:
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pass
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return None, "missing:getBaselineDistance"
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def inspect_socket(calib, socket_name_str: str, width: int, height: int, verbose: bool = False) -> Dict[str, Any]:
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socket = socket_from_name(socket_name_str)
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intr, intr_method = get_intrinsics(calib, socket, width, height, verbose=verbose)
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dist, dist_method = get_distortion(calib, socket, verbose=verbose)
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fov, fov_method = get_fov(calib, socket, verbose=verbose)
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intr_ok = matrix_shape_ok(intr, 3, 3)
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dist_ok = dist is not None
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return {
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"socket": socket_name_str,
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"intrinsics": intr,
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"intrinsics_method": intr_method,
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"intrinsics_ok": bool(intr_ok),
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"distortion": dist,
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"distortion_method": dist_method,
|
||
|
|
"distortion_ok": bool(dist_ok),
|
||
|
|
"fov_deg": fov,
|
||
|
|
"fov_method": fov_method,
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
def inspect_pair(calib, src_name: str, dst_name: str, verbose: bool = False) -> Dict[str, Any]:
|
||
|
|
src = socket_from_name(src_name)
|
||
|
|
dst = socket_from_name(dst_name)
|
||
|
|
ext, ext_method = get_extrinsics(calib, src, dst, verbose=verbose)
|
||
|
|
base, base_method = get_baseline(calib, src, dst, verbose=verbose)
|
||
|
|
|
||
|
|
ext_ok = matrix_shape_ok(ext, 4, 4)
|
||
|
|
translation = None
|
||
|
|
if ext_ok:
|
||
|
|
try:
|
||
|
|
arr = np.asarray(ext, dtype=np.float64)
|
||
|
|
translation = arr[:3, 3].tolist()
|
||
|
|
except Exception:
|
||
|
|
translation = None
|
||
|
|
|
||
|
|
return {
|
||
|
|
"pair": f"{src_name}->{dst_name}",
|
||
|
|
"src": src_name,
|
||
|
|
"dst": dst_name,
|
||
|
|
"extrinsics": ext,
|
||
|
|
"extrinsics_method": ext_method,
|
||
|
|
"extrinsics_ok": bool(ext_ok),
|
||
|
|
"translation": translation,
|
||
|
|
"baseline": base,
|
||
|
|
"baseline_method": base_method,
|
||
|
|
"baseline_ok": bool(base is not None),
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
# ============================================================
|
||
|
|
# Report
|
||
|
|
# ============================================================
|
||
|
|
|
||
|
|
|
||
|
|
def print_summary(report: Dict[str, Any]):
|
||
|
|
print("\n================ CALIBRATION PROBE SUMMARY ================")
|
||
|
|
print(f"device_id : {report.get('device_id')}")
|
||
|
|
print(f"read_method : {report.get('calibration_read_method')}")
|
||
|
|
print(f"dump_json : {report.get('calibration_dump', {}).get('path')}")
|
||
|
|
|
||
|
|
print("\n[Cameras conectadas]")
|
||
|
|
for cam in report.get("connected_cameras", []):
|
||
|
|
print(f" - socket={cam.get('socket')} sensor={cam.get('sensorName')} size={cam.get('width')}x{cam.get('height')}")
|
||
|
|
|
||
|
|
print("\n[Intrinsecos por socket]")
|
||
|
|
for s in report.get("sockets", []):
|
||
|
|
print(
|
||
|
|
f" - {s['socket']}: intrinsics_ok={s['intrinsics_ok']} "
|
||
|
|
f"distortion_ok={s['distortion_ok']} fov={s.get('fov_deg')}"
|
||
|
|
)
|
||
|
|
|
||
|
|
print("\n[Extrinsecos entre pares]")
|
||
|
|
for p in report.get("pairs", []):
|
||
|
|
flag = "OK" if p.get("extrinsics_ok") else "MISSING"
|
||
|
|
print(
|
||
|
|
f" - {p['pair']}: {flag} | baseline={p.get('baseline')} "
|
||
|
|
f"| method={p.get('extrinsics_method')}"
|
||
|
|
)
|
||
|
|
|
||
|
|
# Diagnostico direto para o caso de depth RE/NIR.
|
||
|
|
bc = next((p for p in report.get("pairs", []) if p.get("pair") == "CAM_B->CAM_C"), None)
|
||
|
|
cb = next((p for p in report.get("pairs", []) if p.get("pair") == "CAM_C->CAM_B"), None)
|
||
|
|
|
||
|
|
print("\n[Diagnostico CAM_B/CAM_C para StereoDepth]")
|
||
|
|
if (bc and bc.get("extrinsics_ok")) or (cb and cb.get("extrinsics_ok")):
|
||
|
|
print(" ✅ Existe extrinseco entre CAM_B e CAM_C. O StereoDepth deve ter chance de iniciar.")
|
||
|
|
else:
|
||
|
|
print(" ❌ Nao existe extrinseco CAM_B<->CAM_C legivel pela API.")
|
||
|
|
print(" Isso explica erro: 'There is no available extrinsic calibration between camera ID: 1 and 2'.")
|
||
|
|
print(" Proximo passo: calibrar o par CAM_B/CAM_C ou carregar um calibration.json valido.")
|
||
|
|
|
||
|
|
print("===========================================================\n")
|
||
|
|
|
||
|
|
|
||
|
|
# ============================================================
|
||
|
|
# Main
|
||
|
|
# ============================================================
|
||
|
|
|
||
|
|
|
||
|
|
def main(args: argparse.Namespace):
|
||
|
|
out_dir = Path(args.out_dir)
|
||
|
|
out_dir.mkdir(parents=True, exist_ok=True)
|
||
|
|
|
||
|
|
dev_info = resolve_device_info(args.mx_id)
|
||
|
|
device_id = get_device_id_from_info(dev_info)
|
||
|
|
|
||
|
|
print(f"[INFO] Abrindo device: {device_id}")
|
||
|
|
|
||
|
|
with dai.Device(dev_info) as device:
|
||
|
|
connected = get_connected_cameras(device)
|
||
|
|
calib, read_method = read_calibration(device, verbose=args.verbose)
|
||
|
|
dump = dump_calibration_json(calib, out_dir=out_dir, verbose=args.verbose)
|
||
|
|
|
||
|
|
sockets = [s.strip().upper() for s in args.sockets.split(",") if s.strip()]
|
||
|
|
pairs = []
|
||
|
|
socket_reports = []
|
||
|
|
|
||
|
|
for s in sockets:
|
||
|
|
try:
|
||
|
|
socket_reports.append(inspect_socket(calib, s, args.width, args.height, verbose=args.verbose))
|
||
|
|
except Exception as e:
|
||
|
|
socket_reports.append({
|
||
|
|
"socket": s,
|
||
|
|
"error": f"{type(e).__name__}: {e}",
|
||
|
|
"intrinsics_ok": False,
|
||
|
|
"distortion_ok": False,
|
||
|
|
})
|
||
|
|
|
||
|
|
for src in sockets:
|
||
|
|
for dst in sockets:
|
||
|
|
if src == dst:
|
||
|
|
continue
|
||
|
|
try:
|
||
|
|
pairs.append(inspect_pair(calib, src, dst, verbose=args.verbose))
|
||
|
|
except Exception as e:
|
||
|
|
pairs.append({
|
||
|
|
"pair": f"{src}->{dst}",
|
||
|
|
"src": src,
|
||
|
|
"dst": dst,
|
||
|
|
"error": f"{type(e).__name__}: {e}",
|
||
|
|
"extrinsics_ok": False,
|
||
|
|
"baseline_ok": False,
|
||
|
|
})
|
||
|
|
|
||
|
|
report = {
|
||
|
|
"created_at": time.strftime("%Y-%m-%d %H:%M:%S"),
|
||
|
|
"device_id": device_id,
|
||
|
|
"calibration_read_method": read_method,
|
||
|
|
"connected_cameras": connected,
|
||
|
|
"sockets_requested": sockets,
|
||
|
|
"width": int(args.width),
|
||
|
|
"height": int(args.height),
|
||
|
|
"calibration_dump": {
|
||
|
|
"available": dump.get("available"),
|
||
|
|
"method": dump.get("method"),
|
||
|
|
"path": dump.get("path"),
|
||
|
|
"error": dump.get("error"),
|
||
|
|
},
|
||
|
|
"sockets": socket_reports,
|
||
|
|
"pairs": pairs,
|
||
|
|
}
|
||
|
|
|
||
|
|
out_path = out_dir / "calibration_probe_report.json"
|
||
|
|
with open(out_path, "w", encoding="utf-8") as f:
|
||
|
|
json.dump(to_jsonable(report), f, ensure_ascii=False, indent=2)
|
||
|
|
|
||
|
|
print(f"[OK] Relatorio salvo em: {out_path}")
|
||
|
|
print_summary(report)
|
||
|
|
|
||
|
|
|
||
|
|
# ============================================================
|
||
|
|
# CLI
|
||
|
|
# ============================================================
|
||
|
|
|
||
|
|
|
||
|
|
def build_argparser() -> argparse.ArgumentParser:
|
||
|
|
ap = argparse.ArgumentParser(description="Inspeciona calibracao EEPROM/JSON do device OAK/DepthAI.")
|
||
|
|
ap.add_argument("--mx_id", type=str, default=None, help="MXID opcional do device.")
|
||
|
|
ap.add_argument("--out_dir", type=str, default="calibration_probe_out", help="Pasta de saida.")
|
||
|
|
ap.add_argument("--sockets", type=str, default="CAM_A,CAM_B,CAM_C", help="Sockets para testar. Ex: CAM_A,CAM_B,CAM_C")
|
||
|
|
ap.add_argument("--width", type=int, default=1280, help="Largura usada ao pedir intrinsecos escalados.")
|
||
|
|
ap.add_argument("--height", type=int, default=800, help="Altura usada ao pedir intrinsecos escalados.")
|
||
|
|
ap.add_argument("--verbose", action="store_true", help="Mostra warnings detalhados de APIs que falharam.")
|
||
|
|
return ap
|
||
|
|
|
||
|
|
|
||
|
|
if __name__ == "__main__":
|
||
|
|
main(build_argparser().parse_args())
|