From e850864607aac63e67e4a1ef5f095e76a89d8745 Mon Sep 17 00:00:00 2001 From: Diego Freitas Date: Thu, 7 May 2026 16:24:19 -0300 Subject: [PATCH] parametros radiometricos novos --- .../oak-fcc-3/calibration/module_params.json | 276 +++++++--- .../calibration/radiometric_config.json | 470 ++++++++++++++---- 2 files changed, 577 insertions(+), 169 deletions(-) diff --git a/Python/OAK/datasets/oak-fcc-3/calibration/module_params.json b/Python/OAK/datasets/oak-fcc-3/calibration/module_params.json index ba2e8c9cd..cb6dd6128 100644 --- a/Python/OAK/datasets/oak-fcc-3/calibration/module_params.json +++ b/Python/OAK/datasets/oak-fcc-3/calibration/module_params.json @@ -1,6 +1,6 @@ { "schema": "multispec_module_params_v3", - "saved_at": "2026-05-07 09:03:53", + "saved_at": "2026-05-07 14:41:12", "frame_type": "RAW_BRUTO", "capture_mode_requested": "AUTO", "capture_mode_effective": "AUTO", @@ -12,7 +12,7 @@ "rgb": { "ae_enable": false, "awb_enable": false, - "exposure_time_us": 4800, + "exposure_time_us": 2000, "analogue_gain": 1.0, "colour_gains": [ 1.0, @@ -22,14 +22,14 @@ "re": { "ae_enable": false, "awb_enable": false, - "exposure_time_us": 13200, + "exposure_time_us": 5000, "analogue_gain": 1.0, "colour_gains": null }, "nir": { "ae_enable": false, "awb_enable": false, - "exposure_time_us": 13200, + "exposure_time_us": 5000, "analogue_gain": 1.0, "colour_gains": null } @@ -99,8 +99,8 @@ "control_metric": "p50", "target_value": 0.5, "deadband": 0.035, - "p95_limit": 0.95, - "saturation_limit_pct": 2.0, + "p95_limit": 0.94, + "saturation_limit_pct": 0.5, "alpha": 0.18, "exp_step_gain": 0.55, "prefer_exposure": true, @@ -118,32 +118,76 @@ "nir" ], "roi_pct": { - "x0": 0.015625, - "y0": 0.9025, - "x1": 0.1125, - "y1": 0.995 + "x0": 0.376563, + "y0": 0.81, + "x1": 0.440625, + "y1": 0.985 }, "target_value": 0.08, "weight": 0.7, "roi_pct_by_role": { "rgb": { - "x0": 0.015625, - "y0": 0.9025, - "x1": 0.1125, - "y1": 0.995 + "x0": 0.376563, + "y0": 0.81, + "x1": 0.440625, + "y1": 0.985 }, "re": { - "x0": 0.034375, - "y0": 0.83, - "x1": 0.132812, - "y1": 0.925 + "x0": 0.403125, + "y0": 0.745, + "x1": 0.459375, + "y1": 0.92 }, "nir": { - "x0": 0.0125, - "y0": 0.86, - "x1": 0.107813, - "y1": 0.95 + "x0": 0.364063, + "y0": 0.775, + "x1": 0.428125, + "y1": 0.9425 } + }, + "roi_list_by_role": { + "rgb": [ + { + "name": "rgb_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.376563, + "y0": 0.81, + "x1": 0.440625, + "y1": 0.985 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:39:47" + } + ], + "re": [ + { + "name": "re_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.403125, + "y0": 0.745, + "x1": 0.459375, + "y1": 0.92 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:40:05" + } + ], + "nir": [ + { + "name": "nir_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.364063, + "y0": 0.775, + "x1": 0.428125, + "y1": 0.9425 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:40:37" + } + ] } }, { @@ -155,37 +199,81 @@ "nir" ], "roi_pct": { - "x0": 0.475, - "y0": 0.895, - "x1": 0.56875, - "y1": 0.995 + "x0": 0.30625, + "y0": 0.8225, + "x1": 0.370312, + "y1": 0.985 }, - "target_value": 0.42, + "target_value": 0.5, "target_value_by_role": { - "rgb": 0.42, - "re": 0.36, - "nir": 0.40 + "rgb": 0.34, + "re": 0.24, + "nir": 0.30 }, "weight": 1.0, "roi_pct_by_role": { "rgb": { - "x0": 0.475, - "y0": 0.895, - "x1": 0.56875, - "y1": 0.995 + "x0": 0.30625, + "y0": 0.8225, + "x1": 0.370312, + "y1": 0.985 }, "re": { - "x0": 0.5, - "y0": 0.83, - "x1": 0.590625, - "y1": 0.9225 + "x0": 0.332813, + "y0": 0.745, + "x1": 0.395313, + "y1": 0.915 }, "nir": { - "x0": 0.470313, - "y0": 0.86, - "x1": 0.565625, - "y1": 0.9625 + "x0": 0.29375, + "y0": 0.775, + "x1": 0.35625, + "y1": 0.94 } + }, + "roi_list_by_role": { + "rgb": [ + { + "name": "rgb_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.30625, + "y0": 0.8225, + "x1": 0.370312, + "y1": 0.985 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:39:15" + } + ], + "re": [ + { + "name": "re_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.332813, + "y0": 0.745, + "x1": 0.395313, + "y1": 0.915 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:40:15" + } + ], + "nir": [ + { + "name": "nir_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.29375, + "y0": 0.775, + "x1": 0.35625, + "y1": 0.94 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:40:46" + } + ] } }, { @@ -197,32 +285,76 @@ "nir" ], "roi_pct": { - "x0": 0.870313, - "y0": 0.9025, - "x1": 0.9625, - "y1": 0.995 + "x0": 0.232813, + "y0": 0.8225, + "x1": 0.3, + "y1": 0.99 }, "target_value": 0.82, "weight": 0.8, "roi_pct_by_role": { "rgb": { - "x0": 0.870313, - "y0": 0.9025, - "x1": 0.9625, - "y1": 0.995 + "x0": 0.232813, + "y0": 0.8225, + "x1": 0.3, + "y1": 0.99 }, "re": { - "x0": 0.89375, - "y0": 0.8325, - "x1": 0.984375, - "y1": 0.93 + "x0": 0.2625, + "y0": 0.7525, + "x1": 0.321875, + "y1": 0.9225 }, "nir": { - "x0": 0.875, - "y0": 0.86, - "x1": 0.970313, - "y1": 0.96 + "x0": 0.220312, + "y0": 0.775, + "x1": 0.284375, + "y1": 0.9425 } + }, + "roi_list_by_role": { + "rgb": [ + { + "name": "rgb_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.232813, + "y0": 0.8225, + "x1": 0.3, + "y1": 0.99 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:39:38" + } + ], + "re": [ + { + "name": "re_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.2625, + "y0": 0.7525, + "x1": 0.321875, + "y1": 0.9225 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:40:24" + } + ], + "nir": [ + { + "name": "nir_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.220312, + "y0": 0.775, + "x1": 0.284375, + "y1": 0.9425 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:40:55" + } + ] } } ], @@ -235,11 +367,11 @@ ], "dark_limit_pct": 35.0, "control_strategy": "ratio", - "ratio_alpha": 0.55, - "ratio_min": 0.55, - "ratio_max": 1.20, - "reduce_fast_factor": 0.60, - "factor_min": 0.72, + "ratio_alpha": 0.35, + "ratio_min": 0.65, + "ratio_max": 1.35, + "reduce_fast_factor": 0.80, + "factor_min": 0.55, "factor_max": 1.28, "gain_return_enabled": true, "gain_reduce_on_saturation": true, @@ -259,13 +391,13 @@ }, "re": { "exp_min_us": 100, - "exp_max_us": 80000, + "exp_max_us": 2500, "gain_min": 1.0, "gain_max": 2.0 }, "nir": { "exp_min_us": 100, - "exp_max_us": 80000, + "exp_max_us": 3000, "gain_min": 1.0, "gain_max": 2.0 } @@ -274,12 +406,16 @@ "patch_control_mode": "gray_primary", "patch_require_order": true, "patch_min_separation": 0.08, - "patch_white_sat_limit_pct": 2.0, + "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_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 }, "radiometric_normalization": { "enabled": true, @@ -287,15 +423,15 @@ "apply_stage": "after_dark_before_flat_gain", "reference_controls": { "rgb": { - "exposure_time_us": 4800, + "exposure_time_us": 3000, "analogue_gain": 1.0 }, "re": { - "exposure_time_us": 13200, + "exposure_time_us": 7000, "analogue_gain": 1.0 }, "nir": { - "exposure_time_us": 13200, + "exposure_time_us": 7000, "analogue_gain": 1.0 } }, diff --git a/Python/OAK/datasets/oak-fcc-3/calibration/radiometric_config.json b/Python/OAK/datasets/oak-fcc-3/calibration/radiometric_config.json index ff8331deb..42fc9f3d0 100644 --- a/Python/OAK/datasets/oak-fcc-3/calibration/radiometric_config.json +++ b/Python/OAK/datasets/oak-fcc-3/calibration/radiometric_config.json @@ -120,32 +120,76 @@ "nir" ], "roi_pct": { - "x0": 0.015625, - "y0": 0.9025, - "x1": 0.1125, - "y1": 0.995 + "x0": 0.376563, + "y0": 0.81, + "x1": 0.440625, + "y1": 0.985 }, "target_value": 0.08, "weight": 0.7, "roi_pct_by_role": { "rgb": { - "x0": 0.015625, - "y0": 0.9025, - "x1": 0.1125, - "y1": 0.995 + "x0": 0.376563, + "y0": 0.81, + "x1": 0.440625, + "y1": 0.985 }, "re": { - "x0": 0.034375, - "y0": 0.83, - "x1": 0.132812, - "y1": 0.925 + "x0": 0.403125, + "y0": 0.745, + "x1": 0.459375, + "y1": 0.92 }, "nir": { - "x0": 0.0125, - "y0": 0.86, - "x1": 0.107813, - "y1": 0.95 + "x0": 0.364063, + "y0": 0.775, + "x1": 0.428125, + "y1": 0.9425 } + }, + "roi_list_by_role": { + "rgb": [ + { + "name": "rgb_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.376563, + "y0": 0.81, + "x1": 0.440625, + "y1": 0.985 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:39:47" + } + ], + "re": [ + { + "name": "re_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.403125, + "y0": 0.745, + "x1": 0.459375, + "y1": 0.92 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:40:05" + } + ], + "nir": [ + { + "name": "nir_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.364063, + "y0": 0.775, + "x1": 0.428125, + "y1": 0.9425 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:40:37" + } + ] } }, { @@ -157,32 +201,76 @@ "nir" ], "roi_pct": { - "x0": 0.475, - "y0": 0.895, - "x1": 0.56875, - "y1": 0.995 + "x0": 0.30625, + "y0": 0.8225, + "x1": 0.370312, + "y1": 0.985 }, "target_value": 0.5, "weight": 1.0, "roi_pct_by_role": { "rgb": { - "x0": 0.475, - "y0": 0.895, - "x1": 0.56875, - "y1": 0.995 + "x0": 0.30625, + "y0": 0.8225, + "x1": 0.370312, + "y1": 0.985 }, "re": { - "x0": 0.5, - "y0": 0.83, - "x1": 0.590625, - "y1": 0.9225 + "x0": 0.332813, + "y0": 0.745, + "x1": 0.395313, + "y1": 0.915 }, "nir": { - "x0": 0.470313, - "y0": 0.86, - "x1": 0.565625, - "y1": 0.9625 + "x0": 0.29375, + "y0": 0.775, + "x1": 0.35625, + "y1": 0.94 } + }, + "roi_list_by_role": { + "rgb": [ + { + "name": "rgb_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.30625, + "y0": 0.8225, + "x1": 0.370312, + "y1": 0.985 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:39:15" + } + ], + "re": [ + { + "name": "re_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.332813, + "y0": 0.745, + "x1": 0.395313, + "y1": 0.915 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:40:15" + } + ], + "nir": [ + { + "name": "nir_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.29375, + "y0": 0.775, + "x1": 0.35625, + "y1": 0.94 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:40:46" + } + ] } }, { @@ -194,32 +282,76 @@ "nir" ], "roi_pct": { - "x0": 0.870313, - "y0": 0.9025, - "x1": 0.9625, - "y1": 0.995 + "x0": 0.232813, + "y0": 0.8225, + "x1": 0.3, + "y1": 0.99 }, "target_value": 0.82, "weight": 0.8, "roi_pct_by_role": { "rgb": { - "x0": 0.870313, - "y0": 0.9025, - "x1": 0.9625, - "y1": 0.995 + "x0": 0.232813, + "y0": 0.8225, + "x1": 0.3, + "y1": 0.99 }, "re": { - "x0": 0.89375, - "y0": 0.8325, - "x1": 0.984375, - "y1": 0.93 + "x0": 0.2625, + "y0": 0.7525, + "x1": 0.321875, + "y1": 0.9225 }, "nir": { - "x0": 0.875, - "y0": 0.86, - "x1": 0.970313, - "y1": 0.96 + "x0": 0.220312, + "y0": 0.775, + "x1": 0.284375, + "y1": 0.9425 } + }, + "roi_list_by_role": { + "rgb": [ + { + "name": "rgb_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.232813, + "y0": 0.8225, + "x1": 0.3, + "y1": 0.99 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:39:38" + } + ], + "re": [ + { + "name": "re_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.2625, + "y0": 0.7525, + "x1": 0.321875, + "y1": 0.9225 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:40:24" + } + ], + "nir": [ + { + "name": "nir_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.220312, + "y0": 0.775, + "x1": 0.284375, + "y1": 0.9425 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:40:55" + } + ] } } ], @@ -276,7 +408,11 @@ "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_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 } }, "legacy_patch_mode": { @@ -303,7 +439,7 @@ } }, "schema": "multispec_radiometric_config_profiles_v3", - "saved_at": "2026-05-07 08:55:15", + "saved_at": "2026-05-07 14:40:58", "active_profile": "three_reference_patches_mode", "patch_normalization": { "enabled": true, @@ -352,32 +488,76 @@ "nir" ], "roi_pct": { - "x0": 0.015625, - "y0": 0.9025, - "x1": 0.1125, - "y1": 0.995 + "x0": 0.376563, + "y0": 0.81, + "x1": 0.440625, + "y1": 0.985 }, "target_value": 0.08, "weight": 0.7, "roi_pct_by_role": { "rgb": { - "x0": 0.015625, - "y0": 0.9025, - "x1": 0.1125, - "y1": 0.995 + "x0": 0.376563, + "y0": 0.81, + "x1": 0.440625, + "y1": 0.985 }, "re": { - "x0": 0.034375, - "y0": 0.83, - "x1": 0.132812, - "y1": 0.925 + "x0": 0.403125, + "y0": 0.745, + "x1": 0.459375, + "y1": 0.92 }, "nir": { - "x0": 0.0125, - "y0": 0.86, - "x1": 0.107813, - "y1": 0.95 + "x0": 0.364063, + "y0": 0.775, + "x1": 0.428125, + "y1": 0.9425 } + }, + "roi_list_by_role": { + "rgb": [ + { + "name": "rgb_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.376563, + "y0": 0.81, + "x1": 0.440625, + "y1": 0.985 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:39:47" + } + ], + "re": [ + { + "name": "re_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.403125, + "y0": 0.745, + "x1": 0.459375, + "y1": 0.92 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:40:05" + } + ], + "nir": [ + { + "name": "nir_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.364063, + "y0": 0.775, + "x1": 0.428125, + "y1": 0.9425 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:40:37" + } + ] } }, { @@ -389,32 +569,76 @@ "nir" ], "roi_pct": { - "x0": 0.475, - "y0": 0.895, - "x1": 0.56875, - "y1": 0.995 + "x0": 0.30625, + "y0": 0.8225, + "x1": 0.370312, + "y1": 0.985 }, "target_value": 0.5, "weight": 1.0, "roi_pct_by_role": { "rgb": { - "x0": 0.475, - "y0": 0.895, - "x1": 0.56875, - "y1": 0.995 + "x0": 0.30625, + "y0": 0.8225, + "x1": 0.370312, + "y1": 0.985 }, "re": { - "x0": 0.5, - "y0": 0.83, - "x1": 0.590625, - "y1": 0.9225 + "x0": 0.332813, + "y0": 0.745, + "x1": 0.395313, + "y1": 0.915 }, "nir": { - "x0": 0.470313, - "y0": 0.86, - "x1": 0.565625, - "y1": 0.9625 + "x0": 0.29375, + "y0": 0.775, + "x1": 0.35625, + "y1": 0.94 } + }, + "roi_list_by_role": { + "rgb": [ + { + "name": "rgb_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.30625, + "y0": 0.8225, + "x1": 0.370312, + "y1": 0.985 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:39:15" + } + ], + "re": [ + { + "name": "re_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.332813, + "y0": 0.745, + "x1": 0.395313, + "y1": 0.915 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:40:15" + } + ], + "nir": [ + { + "name": "nir_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.29375, + "y0": 0.775, + "x1": 0.35625, + "y1": 0.94 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:40:46" + } + ] } }, { @@ -426,32 +650,76 @@ "nir" ], "roi_pct": { - "x0": 0.870313, - "y0": 0.9025, - "x1": 0.9625, - "y1": 0.995 + "x0": 0.232813, + "y0": 0.8225, + "x1": 0.3, + "y1": 0.99 }, "target_value": 0.82, "weight": 0.8, "roi_pct_by_role": { "rgb": { - "x0": 0.870313, - "y0": 0.9025, - "x1": 0.9625, - "y1": 0.995 + "x0": 0.232813, + "y0": 0.8225, + "x1": 0.3, + "y1": 0.99 }, "re": { - "x0": 0.89375, - "y0": 0.8325, - "x1": 0.984375, - "y1": 0.93 + "x0": 0.2625, + "y0": 0.7525, + "x1": 0.321875, + "y1": 0.9225 }, "nir": { - "x0": 0.875, - "y0": 0.86, - "x1": 0.970313, - "y1": 0.96 + "x0": 0.220312, + "y0": 0.775, + "x1": 0.284375, + "y1": 0.9425 } + }, + "roi_list_by_role": { + "rgb": [ + { + "name": "rgb_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.232813, + "y0": 0.8225, + "x1": 0.3, + "y1": 0.99 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:39:38" + } + ], + "re": [ + { + "name": "re_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.2625, + "y0": 0.7525, + "x1": 0.321875, + "y1": 0.9225 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:40:24" + } + ], + "nir": [ + { + "name": "nir_legacy_01", + "enabled": true, + "roi_pct": { + "x0": 0.220312, + "y0": 0.775, + "x1": 0.284375, + "y1": 0.9425 + }, + "created_at": "2026-05-07 14:36:25", + "updated_at": "2026-05-07 14:40:55" + } + ] } } ], @@ -508,6 +776,10 @@ "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_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 } } \ No newline at end of file