From 960790719fd41cd652e978290d441d935bfec9b9 Mon Sep 17 00:00:00 2001 From: facebook-github-bot Date: Thu, 16 Jan 2025 20:59:35 +0000 Subject: [PATCH] =?UTF-8?q?Deploying=20to=20gh-pages=20from=20=20@=20db52c?= =?UTF-8?q?7cd7b511694c098191edcbfa8b88ad25664=20=F0=9F=9A=80?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- 404.html | 4 ++-- .../advanced_code_snippets/image_utilities.mdx | 2 +- assets/js/{e5662d6f.fb4feed3.js => e5662d6f.89046bb4.js} | 2 +- assets/js/{main.4c510233.js => main.228bd41c.js} | 4 ++-- ...4c510233.js.LICENSE.txt => main.228bd41c.js.LICENSE.txt} | 0 .../{runtime~main.ae95e55a.js => runtime~main.fec4174a.js} | 2 +- docs/ARK/ARK_quickstart.html | 4 ++-- docs/ARK/about_ARK.html | 4 ++-- docs/ARK/aria_studio.html | 4 ++-- docs/ARK/ark_downloads.html | 4 ++-- docs/ARK/desktop_companion_app.html | 4 ++-- docs/ARK/frame_sizing.html | 4 ++-- docs/ARK/glasses_manual/cable_clip.html | 4 ++-- 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--- a/404.html +++ b/404.html @@ -15,8 +15,8 @@ - - + + diff --git a/_src/data_utilities/advanced_code_snippets/image_utilities.mdx b/_src/data_utilities/advanced_code_snippets/image_utilities.mdx index 401f69f60..6707de95c 100644 --- a/_src/data_utilities/advanced_code_snippets/image_utilities.mdx +++ b/_src/data_utilities/advanced_code_snippets/image_utilities.mdx @@ -155,7 +155,7 @@ auto ray = pinholeCW90.getT_Device_Camera() * pinholeCW90.projectNoChecks(textPi ## Image devignetting Devignetting corrects uneven lighting, enhancing image uniformity and clarity. We provide devignetting for camera-rgb full size image [2880, 2880], camera-rgb half size image[1408, 1408] and slam iamge [640, 480]. -1. Download devignetting masks from [Link](https://www.projectaria.com/async/sample/download/?bucket=core&filename=aria_camera_devignetting_masks.zip) +1. Download devignetting masks from [Link](https://www.projectaria.com/async/sample/download/?bucket=core&filename=aria_devignetting_masks.zip) 2. Unzip to local folder. The folder should follow the structure below: ``` diff --git a/assets/js/e5662d6f.fb4feed3.js b/assets/js/e5662d6f.89046bb4.js similarity index 52% rename from assets/js/e5662d6f.fb4feed3.js rename to assets/js/e5662d6f.89046bb4.js index 8172746bd..149f7bd9f 100644 --- a/assets/js/e5662d6f.fb4feed3.js +++ b/assets/js/e5662d6f.89046bb4.js @@ -1 +1 @@ -"use strict";(self.webpackChunkwebsite=self.webpackChunkwebsite||[]).push([[6635],{65671:(e,a,t)=>{t.r(a),t.d(a,{assets:()=>c,contentTitle:()=>d,default:()=>u,frontMatter:()=>s,metadata:()=>i,toc:()=>m});const i=JSON.parse('{"id":"data_utilities/advanced_code_snippets/image_utilities","title":"Image Utilities (Python and C++)","description":"Overview","source":"@site/docs/data_utilities/advanced_code_snippets/image_utilities.mdx","sourceDirName":"data_utilities/advanced_code_snippets","slug":"/data_utilities/advanced_code_snippets/image_utilities","permalink":"/projectaria_tools/docs/data_utilities/advanced_code_snippets/image_utilities","draft":false,"unlisted":false,"editUrl":"https://github.com/facebookresearch/projectaria_tools/tree/main/website/docs/data_utilities/advanced_code_snippets/image_utilities.mdx","tags":[],"version":"current","sidebarPosition":20,"frontMatter":{"sidebar_position":20,"title":"Image Utilities (Python and C++)"},"sidebar":"tutorialSidebar","previous":{"title":"Plot Sensor Data (Python)","permalink":"/projectaria_tools/docs/data_utilities/advanced_code_snippets/plotting_sensor_data"},"next":{"title":"Export VRS to MP4 (Python)","permalink":"/projectaria_tools/docs/data_utilities/advanced_code_snippets/vrs_to_mp4"}}');var r=t(74848),n=t(28453),l=t(11470),o=t(19365);const s={sidebar_position:20,title:"Image Utilities (Python and C++)"},d="Advanced Image Utilities",c={},m=[{value:"Overview",id:"overview",level:2},{value:"Image debayer",id:"image-debayer",level:2},{value:"Image undistortion",id:"image-undistortion",level:2},{value:"Rotated image clockwise 90 degrees",id:"rotated-image-clockwise-90-degrees",level:2},{value:"Image devignetting",id:"image-devignetting",level:2}];function g(e){const a={a:"a",code:"code",h1:"h1",h2:"h2",header:"header",img:"img",li:"li",ol:"ol",p:"p",pre:"pre",ul:"ul",...(0,n.R)(),...e.components};return(0,r.jsxs)(r.Fragment,{children:[(0,r.jsx)(a.header,{children:(0,r.jsx)(a.h1,{id:"advanced-image-utilities",children:"Advanced Image Utilities"})}),"\n",(0,r.jsx)(a.h2,{id:"overview",children:"Overview"}),"\n",(0,r.jsxs)(a.p,{children:["This page provides advanced image utilities code snippets for Project Aria Tools, see also ",(0,r.jsx)(a.a,{href:"/docs/data_utilities/core_code_snippets/image",children:"Image Code Snippets"}),"."]}),"\n",(0,r.jsx)(a.h2,{id:"image-debayer",children:"Image debayer"}),"\n",(0,r.jsxs)(a.p,{children:["Some recording profiles outputs raw RGB images (Profile 7 in ",(0,r.jsx)(a.a,{href:"/docs/tech_spec/recording_profiles",children:"Recording Profile"}),"). We provide functionalities to debayer them and perform white-balancing to get RGB images."]}),"\n",(0,r.jsxs)(l.default,{groupId:"programming-language",children:[(0,r.jsx)(o.default,{value:"python",label:"Python",children:(0,r.jsx)(a.pre,{children:(0,r.jsx)(a.code,{className:"language-python",children:'from projectaria_tools.core import data_provider, image\n\nstream_id = provider.get_stream_id_from_label("camera-rgb")\nimage_data = provider.get_image_data_by_index(stream_id, 0)\nimage_data_array = image_data[0].to_numpy_array()\ndebayered_array = image.debayer(image_data_array)\n'})})}),(0,r.jsx)(o.default,{value:"cpp",label:"C++",children:(0,r.jsx)(a.pre,{children:(0,r.jsx)(a.code,{className:"language-cpp",children:'#include \n#include \n\nauto streamId = provider.getStreamIdFromLabel("camera-rgb");\nauto imageData = provider.getImageDataByIndex(streamId, 0);\nauto debayeredImage = debayer(imageData.first.imageVariant());\n'})})})]}),"\n",(0,r.jsx)(a.p,{children:(0,r.jsx)(a.img,{alt:"Image",src:t(8200).A+"",width:"912",height:"427"})}),"\n",(0,r.jsxs)(a.p,{children:["See ",(0,r.jsx)(a.a,{href:"https://github.com/facebookresearch/projectaria_tools/blob/main/core/image/utility/Debayer.cpp",children:"projectaria_tools/core/image/utility/Debayer.cpp"})," for implementation"]}),"\n",(0,r.jsx)(a.h2,{id:"image-undistortion",children:"Image undistortion"}),"\n",(0,r.jsx)(a.p,{children:"In this example, we remove distortions in raw sensor data so that straight 3D lines appear straight in the undistorted images. There is existing C++ implementation and Python wrapper of this helper function in the data utilities."}),"\n",(0,r.jsxs)(l.default,{groupId:"programming-language",children:[(0,r.jsx)(o.default,{value:"python",label:"Python",children:(0,r.jsx)(a.pre,{children:(0,r.jsx)(a.code,{className:"language-python",children:'from projectaria_tools.core import data_provider, calibration\n\ncamera_label = "camera-slam-left"\nstream_id = provider.get_stream_id_from_label(camera_label)\n\ncalib = provider.get_device_calibration().get_camera_calib(camera_label)\npinhole = calibration.get_linear_camera_calibration(512, 512, 150)\n\nraw_image = provider.get_image_data_by_index(stream_id, 0)[0].to_numpy_array()\nundistorted_image = calibration.distort_by_calibration(raw_image, pinhole, calib)\n'})})}),(0,r.jsx)(o.default,{value:"cpp",label:"C++",children:(0,r.jsx)(a.pre,{children:(0,r.jsx)(a.code,{className:"language-cpp",children:'#include \n#include \n\nstd::string cameraLabel = "camera-rgb";\nvrs::StreamId streamId = provider->getStreamIdFromLabel(cameraLabel);\n\nCameraCalibration calib = provider->getCameraCalibration(streamId);\nCameraCalibration pinhole = getLinearCameraCalibration(512, 512, 150);\n\nImageData rawImage = provider->getImageDataByIndex(streamId, 0);\nauto undistortedImage = distortByCalibration(rawImage.imageVariant(), pinhole, calib);\n'})})})]}),"\n",(0,r.jsx)(a.p,{children:(0,r.jsx)(a.img,{alt:"Image",src:t(79317).A+"",width:"810",height:"403"})}),"\n",(0,r.jsxs)(a.p,{children:["Go to ",(0,r.jsx)(a.a,{href:"https://github.com/facebookresearch/projectaria_tools/blob/main/core/calibration/utility/Distort.cpp",children:"projectaria_tools/core/calibration/utility/Distort.cpp"})," for implementation."]}),"\n",(0,r.jsxs)(a.p,{children:["Go to the ",(0,r.jsx)(a.a,{href:"/projectaria_tools/docs/faq#calibration",children:"Project Aria FAQ"})," for more calibration information and resources."]}),"\n",(0,r.jsx)(a.h2,{id:"rotated-image-clockwise-90-degrees",children:"Rotated image clockwise 90 degrees"}),"\n",(0,r.jsx)(a.p,{children:"In this example, we rotated the RGB image 90 degrees and provide the new calibration object."}),"\n",(0,r.jsxs)(a.ul,{children:["\n",(0,r.jsx)(a.li,{children:"Calibration rotation only applies to pinhole camera model"}),"\n",(0,r.jsxs)(a.li,{children:["Pinhole camera calibration object needs to be initialized as ",(0,r.jsx)(a.code,{children:"pinhole = calibration.get_linear_camera_calibration(512, 512, 150, camera_label, calib.get_transform_device_camera())"}),"\nwith ",(0,r.jsx)(a.code,{children:"camera_label"})," and the pose ",(0,r.jsx)(a.code,{children:"calib.get_transform_device_camera()"})," so that ",(0,r.jsx)(a.code,{children:"pinhole_cw90"})," can have the correct transformation matrix when unprojecting a pixel to get ",(0,r.jsx)(a.code,{children:"ray_in_device_frame"}),"."]}),"\n"]}),"\n",(0,r.jsxs)(l.default,{groupId:"programming-language",children:[(0,r.jsx)(o.default,{value:"python",label:"Python",children:(0,r.jsx)(a.pre,{children:(0,r.jsx)(a.code,{className:"language-python",children:'camera_label = "camera-rgb"\nstream_id = provider.get_stream_id_from_label(camera_label)\n\ncalib = provider.get_device_calibration().get_camera_calib(camera_label)\npinhole = calibration.get_linear_camera_calibration(512, 512, 150, camera_label,\ncalib.get_transform_device_camera())\n\nraw_image = provider.get_image_data_by_index(stream_id, 0)[0].to_numpy_array()\nundistorted_image = calibration.distort_by_calibration(raw_image, pinhole, calib)\n\n# Rotated image by CW90 degrees\nrotated_image = np.rot90(undistorted_image, k=3)\n\n# Get rotated image calibration\npinhole_cw90 = calibration.rotate_camera_calib_cw90deg(pinhole)\n\n# Unproject a pixel and get a ray from device coordinate frame\ntest_pixel_in_rotated_image = [10,0]\nray_in_device_frame = pinhole_cw90.get_transform_device_camera() @ pinhole_cw90.unproject_no_checks(test_pixel_in_rotated_image)\n'})})}),(0,r.jsx)(o.default,{value:"cpp",label:"C++",children:(0,r.jsx)(a.pre,{children:(0,r.jsx)(a.code,{className:"language-cpp",children:'#include \n#include \n\nstd::string cameraLabel = "camera-rgb";\nvrs::StreamId streamId = provider->getStreamIdFromLabel(cameraLabel);\n\nCameraCalibration calib = provider->getCameraCalibration(streamId);\nCameraCalibration pinhole = getLinearCameraCalibration(512, 512, 150, cameraLabel, calib.getT_Device_Camera());\n\n// Get rotated image calibration\nCameraCalibration pinholeCW90 = rotatedCameraCalibCW90Deg(pinhole);\n\n// Unproject a pixel and get a ray from device coordinate frame\nEigen::Vector2d textPixelInRotatedImage{10,0};\nauto ray = pinholeCW90.getT_Device_Camera() * pinholeCW90.projectNoChecks(textPixelInRotatedImage);\n'})})})]}),"\n",(0,r.jsx)(a.h2,{id:"image-devignetting",children:"Image devignetting"}),"\n",(0,r.jsx)(a.p,{children:"Devignetting corrects uneven lighting, enhancing image uniformity and clarity. We provide devignetting for camera-rgb full size image [2880, 2880], camera-rgb half size image[1408, 1408] and slam iamge [640, 480]."}),"\n",(0,r.jsxs)(a.ol,{children:["\n",(0,r.jsxs)(a.li,{children:["Download devignetting masks from ",(0,r.jsx)(a.a,{href:"https://www.projectaria.com/async/sample/download/?bucket=core&filename=aria_camera_devignetting_masks.zip",children:"Link"})]}),"\n",(0,r.jsx)(a.li,{children:"Unzip to local folder. The folder should follow the structure below:"}),"\n"]}),"\n",(0,r.jsx)(a.pre,{children:(0,r.jsx)(a.code,{children:"aria_camera_devignetting_masks\n|- slam_devignetting_mask.bin\n|- rgb_half_devignetting_mask.bin\n|- rgb_full_devignetting_mask.bin\n"})}),"\n",(0,r.jsxs)(a.ol,{start:"3",children:["\n",(0,r.jsx)(a.li,{children:"set devignetting mask folder path with local folder."}),"\n",(0,r.jsx)(a.li,{children:'load mask by passing camera label, now supporting "camera-rgb", "camera-slam-left" and "camera-slam-right"'}),"\n",(0,r.jsx)(a.li,{children:"apply devignetting to source image."}),"\n"]}),"\n",(0,r.jsxs)(l.default,{groupId:"programming-language",children:[(0,r.jsx)(o.default,{value:"python",label:"Python",children:(0,r.jsx)(a.pre,{children:(0,r.jsx)(a.code,{className:"language-python",children:'from projectaria_tools.core import data_provider, calibration, image\ncamera_label = "camera-rgb"\ndevignetting_mask_folder_path = \ndevice_calib = provider.get_device_calibration()\nstream_id = provider.get_stream_id_from_label(camera_label)\nraw_image = provider.get_image_data_by_index(stream_id, 0)[0].to_numpy_array()\n\n# set devignetting mask with local folder path\ndevice_calib.set_devignetting_mask_folder_path(devignetting_mask_folder_path)\n\n# load devignetting_mask by camera label\ndevignetting_mask = device_calib.load_devignetting_mask(camera_label)\n\n# apply devignetting to source image\ndevigneted_image = calibration.devignetting(raw_image, devignetting_mask)\n\n'})})}),(0,r.jsx)(o.default,{value:"cpp",label:"C++",children:(0,r.jsx)(a.pre,{children:(0,r.jsx)(a.code,{className:"language-cpp",children:'#include \n#include \n\nstd::string cameraLabel = "camera-rgb";\nstd::string devignettingMaskFolderPath = ;\nauto deviceCalib = provider->getDeviceCalibration();\nvrs::StreamId streamId = provider->getStreamIdFromLabel(cameraLabel);\nauto imageData = provider->getImageDataByIndex(streamId, 0);\n\n// set devignetting mask with local folder path\ndeviceCalib.SetDevignettingMaskFolderPath(devignettingMaskFolderPath);\n\n// load devignetting_mask by camera label\nEigen::MatrixXf devignettingMask = deviceCalib.loadDevignettingMask(cameraLabel);\n\n// apply devignetting to source image\nauto devignettedImage = devignetting(imageData.first.imageVariant(), devignettingMask);\n\n'})})})]}),"\n",(0,r.jsx)(a.p,{children:(0,r.jsx)(a.img,{alt:"Image",src:t(55787).A+"",width:"1999",height:"1331"})}),"\n",(0,r.jsxs)(a.p,{children:["Go to ",(0,r.jsx)(a.a,{href:"https://github.com/facebookresearch/projectaria_tools/blob/main/core/image/utility/Devignetting.cpp",children:"projectaria_tools/core/image/utility/Devignetting.cpp"})," for implementation."]})]})}function u(e={}){const{wrapper:a}={...(0,n.R)(),...e.components};return a?(0,r.jsx)(a,{...e,children:(0,r.jsx)(g,{...e})}):g(e)}},19365:(e,a,t)=>{t.r(a),t.d(a,{default:()=>l});t(96540);var i=t(34164);const r={tabItem:"tabItem_Ymn6"};var n=t(74848);function l(e){let{children:a,hidden:t,className:l}=e;return(0,n.jsx)("div",{role:"tabpanel",className:(0,i.A)(r.tabItem,l),hidden:t,children:a})}},11470:(e,a,t)=>{t.r(a),t.d(a,{default:()=>y});var i=t(96540),r=t(34164),n=t(23104),l=t(56347),o=t(205),s=t(57485),d=t(31682),c=t(70679);function m(e){return i.Children.toArray(e).filter((e=>"\n"!==e)).map((e=>{if(!e||(0,i.isValidElement)(e)&&function(e){const{props:a}=e;return!!a&&"object"==typeof a&&"value"in a}(e))return e;throw new Error(`Docusaurus error: Bad child <${"string"==typeof e.type?e.type:e.type.name}>: all children of the component should be , and every should have a unique "value" prop.`)}))?.filter(Boolean)??[]}function g(e){const{values:a,children:t}=e;return(0,i.useMemo)((()=>{const e=a??function(e){return m(e).map((e=>{let{props:{value:a,label:t,attributes:i,default:r}}=e;return{value:a,label:t,attributes:i,default:r}}))}(t);return function(e){const a=(0,d.XI)(e,((e,a)=>e.value===a.value));if(a.length>0)throw new Error(`Docusaurus error: Duplicate values "${a.map((e=>e.value)).join(", ")}" found in . 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\ No newline at end of file +"use strict";(self.webpackChunkwebsite=self.webpackChunkwebsite||[]).push([[6635],{65671:(e,a,t)=>{t.r(a),t.d(a,{assets:()=>c,contentTitle:()=>d,default:()=>u,frontMatter:()=>s,metadata:()=>i,toc:()=>m});const i=JSON.parse('{"id":"data_utilities/advanced_code_snippets/image_utilities","title":"Image Utilities (Python and C++)","description":"Overview","source":"@site/docs/data_utilities/advanced_code_snippets/image_utilities.mdx","sourceDirName":"data_utilities/advanced_code_snippets","slug":"/data_utilities/advanced_code_snippets/image_utilities","permalink":"/projectaria_tools/docs/data_utilities/advanced_code_snippets/image_utilities","draft":false,"unlisted":false,"editUrl":"https://github.com/facebookresearch/projectaria_tools/tree/main/website/docs/data_utilities/advanced_code_snippets/image_utilities.mdx","tags":[],"version":"current","sidebarPosition":20,"frontMatter":{"sidebar_position":20,"title":"Image Utilities (Python and C++)"},"sidebar":"tutorialSidebar","previous":{"title":"Plot Sensor Data (Python)","permalink":"/projectaria_tools/docs/data_utilities/advanced_code_snippets/plotting_sensor_data"},"next":{"title":"Export VRS to MP4 (Python)","permalink":"/projectaria_tools/docs/data_utilities/advanced_code_snippets/vrs_to_mp4"}}');var r=t(74848),n=t(28453),l=t(11470),o=t(19365);const s={sidebar_position:20,title:"Image Utilities (Python and C++)"},d="Advanced Image Utilities",c={},m=[{value:"Overview",id:"overview",level:2},{value:"Image debayer",id:"image-debayer",level:2},{value:"Image undistortion",id:"image-undistortion",level:2},{value:"Rotated image clockwise 90 degrees",id:"rotated-image-clockwise-90-degrees",level:2},{value:"Image devignetting",id:"image-devignetting",level:2}];function g(e){const a={a:"a",code:"code",h1:"h1",h2:"h2",header:"header",img:"img",li:"li",ol:"ol",p:"p",pre:"pre",ul:"ul",...(0,n.R)(),...e.components};return(0,r.jsxs)(r.Fragment,{children:[(0,r.jsx)(a.header,{children:(0,r.jsx)(a.h1,{id:"advanced-image-utilities",children:"Advanced Image Utilities"})}),"\n",(0,r.jsx)(a.h2,{id:"overview",children:"Overview"}),"\n",(0,r.jsxs)(a.p,{children:["This page provides advanced image utilities code snippets for Project Aria Tools, see also ",(0,r.jsx)(a.a,{href:"/docs/data_utilities/core_code_snippets/image",children:"Image Code Snippets"}),"."]}),"\n",(0,r.jsx)(a.h2,{id:"image-debayer",children:"Image debayer"}),"\n",(0,r.jsxs)(a.p,{children:["Some recording profiles outputs raw RGB images (Profile 7 in ",(0,r.jsx)(a.a,{href:"/docs/tech_spec/recording_profiles",children:"Recording Profile"}),"). We provide functionalities to debayer them and perform white-balancing to get RGB images."]}),"\n",(0,r.jsxs)(l.default,{groupId:"programming-language",children:[(0,r.jsx)(o.default,{value:"python",label:"Python",children:(0,r.jsx)(a.pre,{children:(0,r.jsx)(a.code,{className:"language-python",children:'from projectaria_tools.core import data_provider, image\n\nstream_id = provider.get_stream_id_from_label("camera-rgb")\nimage_data = provider.get_image_data_by_index(stream_id, 0)\nimage_data_array = image_data[0].to_numpy_array()\ndebayered_array = image.debayer(image_data_array)\n'})})}),(0,r.jsx)(o.default,{value:"cpp",label:"C++",children:(0,r.jsx)(a.pre,{children:(0,r.jsx)(a.code,{className:"language-cpp",children:'#include \n#include \n\nauto streamId = provider.getStreamIdFromLabel("camera-rgb");\nauto imageData = provider.getImageDataByIndex(streamId, 0);\nauto debayeredImage = debayer(imageData.first.imageVariant());\n'})})})]}),"\n",(0,r.jsx)(a.p,{children:(0,r.jsx)(a.img,{alt:"Image",src:t(8200).A+"",width:"912",height:"427"})}),"\n",(0,r.jsxs)(a.p,{children:["See ",(0,r.jsx)(a.a,{href:"https://github.com/facebookresearch/projectaria_tools/blob/main/core/image/utility/Debayer.cpp",children:"projectaria_tools/core/image/utility/Debayer.cpp"})," for implementation"]}),"\n",(0,r.jsx)(a.h2,{id:"image-undistortion",children:"Image undistortion"}),"\n",(0,r.jsx)(a.p,{children:"In this example, we remove distortions in raw sensor data so that straight 3D lines appear straight in the undistorted images. There is existing C++ implementation and Python wrapper of this helper function in the data utilities."}),"\n",(0,r.jsxs)(l.default,{groupId:"programming-language",children:[(0,r.jsx)(o.default,{value:"python",label:"Python",children:(0,r.jsx)(a.pre,{children:(0,r.jsx)(a.code,{className:"language-python",children:'from projectaria_tools.core import data_provider, calibration\n\ncamera_label = "camera-slam-left"\nstream_id = provider.get_stream_id_from_label(camera_label)\n\ncalib = provider.get_device_calibration().get_camera_calib(camera_label)\npinhole = calibration.get_linear_camera_calibration(512, 512, 150)\n\nraw_image = provider.get_image_data_by_index(stream_id, 0)[0].to_numpy_array()\nundistorted_image = calibration.distort_by_calibration(raw_image, pinhole, calib)\n'})})}),(0,r.jsx)(o.default,{value:"cpp",label:"C++",children:(0,r.jsx)(a.pre,{children:(0,r.jsx)(a.code,{className:"language-cpp",children:'#include \n#include \n\nstd::string cameraLabel = "camera-rgb";\nvrs::StreamId streamId = provider->getStreamIdFromLabel(cameraLabel);\n\nCameraCalibration calib = provider->getCameraCalibration(streamId);\nCameraCalibration pinhole = getLinearCameraCalibration(512, 512, 150);\n\nImageData rawImage = provider->getImageDataByIndex(streamId, 0);\nauto undistortedImage = distortByCalibration(rawImage.imageVariant(), pinhole, calib);\n'})})})]}),"\n",(0,r.jsx)(a.p,{children:(0,r.jsx)(a.img,{alt:"Image",src:t(79317).A+"",width:"810",height:"403"})}),"\n",(0,r.jsxs)(a.p,{children:["Go to ",(0,r.jsx)(a.a,{href:"https://github.com/facebookresearch/projectaria_tools/blob/main/core/calibration/utility/Distort.cpp",children:"projectaria_tools/core/calibration/utility/Distort.cpp"})," for implementation."]}),"\n",(0,r.jsxs)(a.p,{children:["Go to the ",(0,r.jsx)(a.a,{href:"/projectaria_tools/docs/faq#calibration",children:"Project Aria FAQ"})," for more calibration information and resources."]}),"\n",(0,r.jsx)(a.h2,{id:"rotated-image-clockwise-90-degrees",children:"Rotated image clockwise 90 degrees"}),"\n",(0,r.jsx)(a.p,{children:"In this example, we rotated the RGB image 90 degrees and provide the new calibration object."}),"\n",(0,r.jsxs)(a.ul,{children:["\n",(0,r.jsx)(a.li,{children:"Calibration rotation only applies to pinhole camera model"}),"\n",(0,r.jsxs)(a.li,{children:["Pinhole camera calibration object needs to be initialized as ",(0,r.jsx)(a.code,{children:"pinhole = calibration.get_linear_camera_calibration(512, 512, 150, camera_label, calib.get_transform_device_camera())"}),"\nwith ",(0,r.jsx)(a.code,{children:"camera_label"})," and the pose ",(0,r.jsx)(a.code,{children:"calib.get_transform_device_camera()"})," so that ",(0,r.jsx)(a.code,{children:"pinhole_cw90"})," can have the correct transformation matrix when unprojecting a pixel to get ",(0,r.jsx)(a.code,{children:"ray_in_device_frame"}),"."]}),"\n"]}),"\n",(0,r.jsxs)(l.default,{groupId:"programming-language",children:[(0,r.jsx)(o.default,{value:"python",label:"Python",children:(0,r.jsx)(a.pre,{children:(0,r.jsx)(a.code,{className:"language-python",children:'camera_label = "camera-rgb"\nstream_id = provider.get_stream_id_from_label(camera_label)\n\ncalib = provider.get_device_calibration().get_camera_calib(camera_label)\npinhole = calibration.get_linear_camera_calibration(512, 512, 150, camera_label,\ncalib.get_transform_device_camera())\n\nraw_image = provider.get_image_data_by_index(stream_id, 0)[0].to_numpy_array()\nundistorted_image = calibration.distort_by_calibration(raw_image, pinhole, calib)\n\n# Rotated image by CW90 degrees\nrotated_image = np.rot90(undistorted_image, k=3)\n\n# Get rotated image calibration\npinhole_cw90 = calibration.rotate_camera_calib_cw90deg(pinhole)\n\n# Unproject a pixel and get a ray from device coordinate frame\ntest_pixel_in_rotated_image = [10,0]\nray_in_device_frame = pinhole_cw90.get_transform_device_camera() @ pinhole_cw90.unproject_no_checks(test_pixel_in_rotated_image)\n'})})}),(0,r.jsx)(o.default,{value:"cpp",label:"C++",children:(0,r.jsx)(a.pre,{children:(0,r.jsx)(a.code,{className:"language-cpp",children:'#include \n#include \n\nstd::string cameraLabel = "camera-rgb";\nvrs::StreamId streamId = provider->getStreamIdFromLabel(cameraLabel);\n\nCameraCalibration calib = provider->getCameraCalibration(streamId);\nCameraCalibration pinhole = getLinearCameraCalibration(512, 512, 150, cameraLabel, calib.getT_Device_Camera());\n\n// Get rotated image calibration\nCameraCalibration pinholeCW90 = rotatedCameraCalibCW90Deg(pinhole);\n\n// Unproject a pixel and get a ray from device coordinate frame\nEigen::Vector2d textPixelInRotatedImage{10,0};\nauto ray = pinholeCW90.getT_Device_Camera() * pinholeCW90.projectNoChecks(textPixelInRotatedImage);\n'})})})]}),"\n",(0,r.jsx)(a.h2,{id:"image-devignetting",children:"Image devignetting"}),"\n",(0,r.jsx)(a.p,{children:"Devignetting corrects uneven lighting, enhancing image uniformity and clarity. We provide devignetting for camera-rgb full size image [2880, 2880], camera-rgb half size image[1408, 1408] and slam iamge [640, 480]."}),"\n",(0,r.jsxs)(a.ol,{children:["\n",(0,r.jsxs)(a.li,{children:["Download devignetting masks from ",(0,r.jsx)(a.a,{href:"https://www.projectaria.com/async/sample/download/?bucket=core&filename=aria_devignetting_masks.zip",children:"Link"})]}),"\n",(0,r.jsx)(a.li,{children:"Unzip to local folder. The folder should follow the structure below:"}),"\n"]}),"\n",(0,r.jsx)(a.pre,{children:(0,r.jsx)(a.code,{children:"aria_camera_devignetting_masks\n|- slam_devignetting_mask.bin\n|- rgb_half_devignetting_mask.bin\n|- rgb_full_devignetting_mask.bin\n"})}),"\n",(0,r.jsxs)(a.ol,{start:"3",children:["\n",(0,r.jsx)(a.li,{children:"set devignetting mask folder path with local folder."}),"\n",(0,r.jsx)(a.li,{children:'load mask by passing camera label, now supporting "camera-rgb", "camera-slam-left" and "camera-slam-right"'}),"\n",(0,r.jsx)(a.li,{children:"apply devignetting to source image."}),"\n"]}),"\n",(0,r.jsxs)(l.default,{groupId:"programming-language",children:[(0,r.jsx)(o.default,{value:"python",label:"Python",children:(0,r.jsx)(a.pre,{children:(0,r.jsx)(a.code,{className:"language-python",children:'from projectaria_tools.core import data_provider, calibration, image\ncamera_label = "camera-rgb"\ndevignetting_mask_folder_path = \ndevice_calib = provider.get_device_calibration()\nstream_id = provider.get_stream_id_from_label(camera_label)\nraw_image = provider.get_image_data_by_index(stream_id, 0)[0].to_numpy_array()\n\n# set devignetting mask with local folder path\ndevice_calib.set_devignetting_mask_folder_path(devignetting_mask_folder_path)\n\n# load devignetting_mask by camera label\ndevignetting_mask = device_calib.load_devignetting_mask(camera_label)\n\n# apply devignetting to source image\ndevigneted_image = calibration.devignetting(raw_image, devignetting_mask)\n\n'})})}),(0,r.jsx)(o.default,{value:"cpp",label:"C++",children:(0,r.jsx)(a.pre,{children:(0,r.jsx)(a.code,{className:"language-cpp",children:'#include \n#include \n\nstd::string cameraLabel = "camera-rgb";\nstd::string devignettingMaskFolderPath = ;\nauto deviceCalib = provider->getDeviceCalibration();\nvrs::StreamId streamId = provider->getStreamIdFromLabel(cameraLabel);\nauto imageData = provider->getImageDataByIndex(streamId, 0);\n\n// set devignetting mask with local folder path\ndeviceCalib.SetDevignettingMaskFolderPath(devignettingMaskFolderPath);\n\n// load devignetting_mask by camera label\nEigen::MatrixXf devignettingMask = deviceCalib.loadDevignettingMask(cameraLabel);\n\n// apply devignetting to source image\nauto devignettedImage = devignetting(imageData.first.imageVariant(), devignettingMask);\n\n'})})})]}),"\n",(0,r.jsx)(a.p,{children:(0,r.jsx)(a.img,{alt:"Image",src:t(55787).A+"",width:"1999",height:"1331"})}),"\n",(0,r.jsxs)(a.p,{children:["Go to ",(0,r.jsx)(a.a,{href:"https://github.com/facebookresearch/projectaria_tools/blob/main/core/image/utility/Devignetting.cpp",children:"projectaria_tools/core/image/utility/Devignetting.cpp"})," for implementation."]})]})}function u(e={}){const{wrapper:a}={...(0,n.R)(),...e.components};return a?(0,r.jsx)(a,{...e,children:(0,r.jsx)(g,{...e})}):g(e)}},19365:(e,a,t)=>{t.r(a),t.d(a,{default:()=>l});t(96540);var i=t(34164);const r={tabItem:"tabItem_Ymn6"};var n=t(74848);function l(e){let{children:a,hidden:t,className:l}=e;return(0,n.jsx)("div",{role:"tabpanel",className:(0,i.A)(r.tabItem,l),hidden:t,children:a})}},11470:(e,a,t)=>{t.r(a),t.d(a,{default:()=>y});var i=t(96540),r=t(34164),n=t(23104),l=t(56347),o=t(205),s=t(57485),d=t(31682),c=t(70679);function m(e){return i.Children.toArray(e).filter((e=>"\n"!==e)).map((e=>{if(!e||(0,i.isValidElement)(e)&&function(e){const{props:a}=e;return!!a&&"object"==typeof a&&"value"in a}(e))return e;throw new Error(`Docusaurus error: Bad child <${"string"==typeof e.type?e.type:e.type.name}>: all children of the component should be , and every should have a unique "value" prop.`)}))?.filter(Boolean)??[]}function g(e){const{values:a,children:t}=e;return(0,i.useMemo)((()=>{const e=a??function(e){return m(e).map((e=>{let{props:{value:a,label:t,attributes:i,default:r}}=e;return{value:a,label:t,attributes:i,default:r}}))}(t);return function(e){const a=(0,d.XI)(e,((e,a)=>e.value===a.value));if(a.length>0)throw new Error(`Docusaurus error: Duplicate values "${a.map((e=>e.value)).join(", ")}" found in . 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