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

{
  "schema": "multispec_module_params_v3",
  "saved_at": "2026-05-12 14:20:13",
  "frame_type": "RAW_BRUTO",
  "capture_mode_requested": "AUTO",
  "capture_mode_effective": "AUTO",
  "raw_policy": "allow_single",
  "sensor_width": 1280,
  "sensor_height": 800,
  "bayer_pattern": "BGGR",
  "rgb_processing": {
    "mode": "bayer_planes",
    "demosaic_algorithm": "ea",
    "enhancement": {
      "enabled": true,
      "backend": "hybrid",
      "preset": "soft",
      "apply_to_preview_input": false,
      "use_u8_pipeline": true,
      "auto_stretch": {
        "enabled": false,
        "low_pct": 0.2,
        "high_pct": 99.8
      },
      "clip_output": true,
      "save_debug": false
    }
  },
  "camera_settings": {
    "rgb": {
      "ae_enable": true,
      "awb_enable": true,
      "exposure_time_us": 2000,
      "analogue_gain": 1.0,
      "colour_gains": [
        1.0,
        1.0
      ]
    },
    "re": {
      "ae_enable": true,
      "awb_enable": false,
      "exposure_time_us": 5000,
      "analogue_gain": 1.0,
      "colour_gains": null
    },
    "nir": {
      "ae_enable": true,
      "awb_enable": false,
      "exposure_time_us": 5000,
      "analogue_gain": 1.0,
      "colour_gains": null
    }
  },
  "fusion_config": {
    "use_remap_cache": true,
    "use_remap_for_rgb": false,
    "use_remap_for_spec": true,
    "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
      }
    },
    "homography_calibration_size": [1280, 800],
    "homography_profile": "baixa",
    "homography_profile_by_role": {
      "re": "baixa",
      "nir": "baixa"
    },
    "homography_profiles": {
      "baixa": {
        "description": "Plano mais baixo/distante da câmera, normalmente mais próximo do chão.",
        "depth": 120.0,
        "homography_calibration_size": [1280, 800],
        "homography_source": "all_valid_triplets",
        "homography_stats": {
          "re_total_points": 267,
          "re_inliers": 267,
          "re_inlier_pct": 100.0,
          "nir_total_points": 282,
          "nir_inliers": 276,
          "nir_inlier_pct": 97.87234042553192,
          "re_frames_used": 13,
          "nir_frames_used": 13,
          "common_frames_used": 13,
          "overlap_common_pct": 92.09267578125
        },
        "homographies": {
          "re_to_rgb": [
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              0.015257560646391,
              -27.5415127674596
            ],
            [
              0.000064618247568,
              1.020756196943496,
              51.80289590472656
            ],
            [
              0.000003411885963,
              0.0000210631067,
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            ]
          ],
          "nir_to_rgb": [
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            ],
            [
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              37.83216994660247
            ],
            [
              -0.00000725852956,
              0.000011588890195,
              1.0
            ]
          ]
        }
      },

      "media": {
        "description": "Plano médio, calibrado com ChArUco a aproximadamente 66 cm da lente.",
        "depth": 66.0,
        "homography_calibration_size": [1280, 800],
        "homography_source": "all_valid_triplets",
        "homography_stats": {
          "min_common_frame": 4,
          "min_total_points": 30,
          "re_total_points": 681,
          "re_inliers": 666,
          "re_inlier_pct": 97.79735682819384,
          "nir_total_points": 682,
          "nir_inliers": 662,
          "nir_inlier_pct": 97.0674486803519,
          "re_frames_used": 10,
          "nir_frames_used": 10,
          "common_frames_used": 10,
          "overlap_re_pct": 92.06279296874999,
          "overlap_nir_pct": 92.97744140625001,
          "overlap_common_pct": 90.9361328125
        },
        "homographies": {
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            [
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              57.68510361307461
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            [
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          ],
          "nir_to_rgb": [
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            ],
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            ],
            [
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              1.0
            ]
          ]
        }
      },

      "alta": {
        "description": "Plano mais alto/próximo da câmera, calibrado com ChArUco acima do plano médio.",
        "depth": 36.0,
        "homography_calibration_size": [1280, 800],
        "homography_source": "all_valid_triplets",
        "homography_stats": {
          "min_common_frame": 4,
          "min_total_points": 30,
          "re_total_points": 336,
          "re_inliers": 305,
          "re_inlier_pct": 90.77380952380952,
          "nir_total_points": 333,
          "nir_inliers": 330,
          "nir_inlier_pct": 99.09909909909909,
          "re_frames_used": 5,
          "nir_frames_used": 5,
          "common_frames_used": 5,
          "overlap_re_pct": 91.26904296875,
          "overlap_nir_pct": 90.83525390625,
          "overlap_common_pct": 88.8357421875
        },
        "homographies": {
          "re_to_rgb": [
            [
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            ],
            [
              0.001034227529954,
              1.026408605195186,
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            ],
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            ]
          ],
          "nir_to_rgb": [
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              55.15260407195015
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            [
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            ]
          ]
        }
      }
    },
    "crop_valid_common": true,
    "resize_after_crop": true,
    "target_size": [640, 400]
  },
  "radiometric_config": {
    "enabled": false,
    "interval_s": 0.25,
    "verbose": true,
    "metering_mode": "reference_patches",
    "spectral_control_mode": "shared",
    "control_metric": "p50",
    "target_value": 0.5,
    "deadband": 0.055,
    "p95_limit": 0.975,
    "saturation_limit_pct": 5.0,
    "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,
    "reference_patches": [
      {
        "name": "black_reference",
        "type": "black",
        "roles": [
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          "re",
          "nir"
        ],
        "roi_pct": {
          "x0": 0.26875,
          "y0": 0.8175,
          "x1": 0.328906,
          "y1": 0.985
        },
        "target_value": 0.08,
        "weight": 0.7,
        "roi_pct_by_role": {
          "rgb": {
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            "x1": 0.328906,
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          },
          "re": {
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          "nir": {
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          }
        },
        "roi_list_by_role": {
          "rgb": [
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              "name": "rgb_legacy_01",
              "enabled": true,
              "roi_pct": {
                "x0": 0.26875,
                "y0": 0.8175,
                "x1": 0.328906,
                "y1": 0.985
              },
              "created_at": "2026-05-07 14:36:25",
              "updated_at": "2026-05-12 14:16:15"
            },
            {
              "name": "black_rgb_02",
              "enabled": true,
              "roi_pct": {
                "x0": 0.813281,
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                "x1": 0.873437,
                "y1": 0.9875
              },
              "created_at": "2026-05-12 14:16:20",
              "updated_at": "2026-05-12 14:16:32"
            }
          ],
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              "created_at": "2026-05-07 14:36:25",
              "updated_at": "2026-05-12 14:17:39"
            },
            {
              "name": "black_re_02",
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              "roi_pct": {
                "x0": 0.79375,
                "y0": 0.83,
                "x1": 0.85625,
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              },
              "created_at": "2026-05-12 14:17:42",
              "updated_at": "2026-05-12 14:17:49"
            }
          ],
          "nir": [
            {
              "name": "nir_legacy_01",
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              "roi_pct": {
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              "created_at": "2026-05-07 14:36:25",
              "updated_at": "2026-05-12 14:19:03"
            },
            {
              "name": "black_nir_02",
              "enabled": true,
              "roi_pct": {
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              "created_at": "2026-05-12 14:19:04",
              "updated_at": "2026-05-12 14:19:16"
            }
          ]
        }
      },
      {
        "name": "gray_reference",
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        "roi_pct": {
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          "y0": 0.82625,
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        "target_value": 0.35,
        "target_value_by_role": {
          "rgb": 0.285,
          "re": 0.22,
          "nir": 0.27
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        "weight": 1.0,
        "roi_pct_by_role": {
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        },
        "roi_list_by_role": {
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              "created_at": "2026-05-07 14:36:25",
              "updated_at": "2026-05-12 14:16:46"
            },
            {
              "name": "gray_rgb_02",
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                "x1": 0.804688,
                "y1": 0.98625
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              "created_at": "2026-05-12 14:16:48",
              "updated_at": "2026-05-12 14:16:59"
            }
          ],
          "re": [
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              "name": "re_legacy_01",
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              "roi_pct": {
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              "updated_at": "2026-05-12 14:18:03"
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            {
              "name": "gray_re_02",
              "enabled": true,
              "roi_pct": {
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                "x1": 0.7875,
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              },
              "created_at": "2026-05-12 14:18:05",
              "updated_at": "2026-05-12 14:18:15"
            }
          ],
          "nir": [
            {
              "name": "nir_legacy_01",
              "enabled": true,
              "roi_pct": {
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                "x1": 0.290625,
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              },
              "created_at": "2026-05-07 14:36:25",
              "updated_at": "2026-05-12 14:19:24"
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            {
              "name": "gray_nir_02",
              "enabled": true,
              "roi_pct": {
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                "x1": 0.84375,
                "y1": 0.98
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              "created_at": "2026-05-12 14:19:25",
              "updated_at": "2026-05-12 14:19:30"
            }
          ]
        }
      },
      {
        "name": "white_reference",
        "type": "white",
        "roles": [
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          "nir"
        ],
        "roi_pct": {
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          "x1": 0.189062,
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        },
        "target_value": 0.82,
        "weight": 0.8,
        "roi_pct_by_role": {
          "rgb": {
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          "nir": {
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          }
        },
        "roi_list_by_role": {
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              "enabled": true,
              "roi_pct": {
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              },
              "created_at": "2026-05-07 14:36:25",
              "updated_at": "2026-05-12 14:17:12"
            },
            {
              "name": "white_rgb_02",
              "enabled": true,
              "roi_pct": {
                "x0": 0.675,
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                "x1": 0.735156,
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              },
              "created_at": "2026-05-12 14:17:13",
              "updated_at": "2026-05-12 14:17:23"
            }
          ],
          "re": [
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              "name": "re_legacy_01",
              "enabled": true,
              "roi_pct": {
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                "x1": 0.148438,
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              },
              "created_at": "2026-05-07 14:36:25",
              "updated_at": "2026-05-12 14:18:29"
            },
            {
              "name": "white_re_02",
              "enabled": true,
              "roi_pct": {
                "x0": 0.648438,
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                "x1": 0.714063,
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              },
              "created_at": "2026-05-12 14:18:31",
              "updated_at": "2026-05-12 14:18:45"
            }
          ],
          "nir": [
            {
              "name": "nir_legacy_01",
              "enabled": true,
              "roi_pct": {
                "x0": 0.154688,
                "y0": 0.83125,
                "x1": 0.21875,
                "y1": 0.99625
              },
              "created_at": "2026-05-07 14:36:25",
              "updated_at": "2026-05-12 14:19:45"
            },
            {
              "name": "white_nir_02",
              "enabled": true,
              "roi_pct": {
                "x0": 0.713281,
                "y0": 0.825,
                "x1": 0.775,
                "y1": 0.98125
              },
              "created_at": "2026-05-12 14:19:46",
              "updated_at": "2026-05-12 14:19:54"
            }
          ]
        }
      }
    ],
    "exp_apply_threshold_us": 15,
    "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": 0.42,
    "ratio_min": 0.72,
    "ratio_max": 1.38,
    "reduce_fast_factor": 0.8,
    "factor_min": 0.62,
    "factor_max": 1.42,
    "gain_return_enabled": true,
    "gain_reduce_on_saturation": true,
    "gain_increase_required_cycles": 3,
    "gain_decrease_required_cycles": 1,
    "gain_step_up": 0.3,
    "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": 3500,
        "gain_min": 1.0,
        "gain_max": 2.0
      },
      "nir": {
        "exp_min_us": 100,
        "exp_max_us": 3500,
        "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": 5.0,
    "patch_white_p95_limit": 0.985,
    "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": 0.76
    },
    "global_guard_sat_threshold": 0.985,
    "global_guard_near_sat_threshold": 0.94,
    "global_guard_sat_pct_soft": 0.50,
    "global_guard_sat_pct_hard": 1.5,
    "global_guard_sat_pct_extreme": 5.0,
    "global_guard_blob_pct_soft": 0.20,
    "global_guard_blob_pct_hard": 0.80,
    "global_guard_blob_pct_extreme": 2.2,
    "global_guard_min_blob_px": 48,
    "global_guard_downsample_max_side": 320,
    "global_guard_reduce_factor_soft": 0.96,
    "global_guard_reduce_factor_hard": 0.82,
    "global_guard_reduce_factor_extreme": 0.62,
    "sun_guard_enabled": true,
    "sun_guard_p99_threshold": 0.96,
    "sun_guard_near_sat_pct_threshold": 2.0,
    "sun_guard_freeze_increase_cycles": 1,
    "sun_guard_allow_decrease": true,
    "guard_force_apply_enabled": true,
    "guard_force_apply_soft": false,
    "guard_force_apply_hard": true,
    "guard_force_apply_extreme": true,
    "guard_force_apply_on_patch_saturation": true,
    "guard_freeze_cycles_soft": 1,
    "guard_freeze_cycles_hard": 2,
    "guard_freeze_cycles_extreme": 3,
    "guard_reapply_min_exp_on_emergency": true,
    "guard_min_exp_margin_us": 80,
    "patch_two_roi_soften_risk": true,
    "patch_two_roi_white_risk_percentile": 75,
    "patch_two_roi_other_risk_percentile": 50,
    "patch_white_single_roi_saturation_reject": true,
    "patch_white_roi_reject_sat_pct": 5.0,
    "patch_white_roi_reject_p95": 0.995
  },
  "radiometric_normalization": {
    "enabled": true,
    "method": "oak_ae_frame_controls_v1",
    "apply_stage": "after_dark_before_flat_gain",

    "control_source": "stream_meta.frame_controls",
    "role_mapping_source": "camera_info",

    "factor_model": "exposure_time_us_x_iso",
    "iso_base": 100.0,

    "reference_mode": "fixed",
    "reference_controls": {
      "rgb": {
        "exposure_time_us": 3000,
        "sensitivity_iso": 100
      },
      "re": {
        "exposure_time_us": 4000,
        "sensitivity_iso": 100
      },
      "nir": {
        "exposure_time_us": 4000,
        "sensitivity_iso": 100
      }
    },

    "scale_limits": {
      "default": {
        "min": 0.15,
        "max": 3.0
      },
      "rgb": {
        "min": 0.15,
        "max": 3.0
      },
      "re": {
        "min": 0.15,
        "max": 3.0
      },
      "nir": {
        "min": 0.15,
        "max": 3.0
      }
    },

    "missing_controls_policy": "skip",
    "invalid_controls_policy": "skip",
    "clip_output": false,
    "save_debug": true
  },
  "patch_normalization": {
    "enabled": false,
    "apply_when_metering_mode": "reference_patches",
    "apply_stage": "after_fusion",
    "method": "gray_scale_with_white_guard",
    "space": "multispec_tensor",

    "targets_by_patch_channel": {
      "black": {
        "R": 0.06,
        "G": 0.06,
        "B": 0.06,
        "RE": 0.06,
        "NIR": 0.06
      },
      "gray": {
        "R": 0.34,
        "G": 0.34,
        "B": 0.34,
        "RE": 0.24,
        "NIR": 0.30
      },
      "white": {
        "R": 0.78,
        "G": 0.78,
        "B": 0.78,
        "RE": 0.78,
        "NIR": 0.78
      }
    },

    "white_guard_max": 0.92,
    "white_guard_max_by_channel": {
      "R": 0.92,
      "G": 0.92,
      "B": 0.92,
      "RE": 0.88,
      "NIR": 0.88
    },

    "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_saturation_guard_enabled": true,
    "rgb_saturation_guard_mode": "fade_strength",
    "rgb_saturation_soft_start": 0.88,
    "rgb_saturation_hard": 0.97,
    "rgb_saturation_threshold": 0.97
  },
  "rgb_calibration": {
    "enabled": false,
    "gains": {
      "R": 1.061,
      "G": 1.0,
      "B": 1.452
    }
  },
  "flatfield_config": {
    "enabled": true,
    "subtract_dark": false,
    "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": false,
    "apply_after_decode": false,
    "apply_space": "final_tensor_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": true,
    "smooth_ksize": 31,
    "min_gain": 0.25,
    "max_gain": 4.0,
    "notes": "",
    "strength": 0.25,
    "strength_by_channel": {
      "R": 0.5,
      "G": 0.5,
      "B": 0.5,
      "RE": 0.25,
      "NIR": 0.25
    },
    "gain_min_runtime": 0.75,
    "gain_max_runtime": 1.35,
    "runtime_smooth_ksize": 81,

    "fast_runtime": true,
    "saturation_guard_enabled": false,
    "saturation_guard_mode": "fade_strength",
    "saturation_guard_threshold": 0.97,
    "saturation_guard_soft_start": 0.88,
    "saturation_guard_hard": 0.97,

    "clip_output": true
  }
}