From ce584c09dc35ce55d47a6035f30827ec9ca2cad1 Mon Sep 17 00:00:00 2001
From: kaatrasa
Date: Thu, 1 Feb 2024 16:27:53 +0200
Subject: [PATCH] Update docs for release 1.28
---
sdk/api.html | 2 +-
sdk/core.html | 2 +-
sdk/cpp/latest/index.html | 23 +-
sdk/custom-hardware.html | 2 +-
sdk/index.html | 2 +-
sdk/mapping.html | 4 +-
sdk/python/latest/index.html | 2 +-
sdk/python/v1.28/index.html | 620 +++++++++++++++++++++++++++++++++++
sdk/recording.html | 2 +-
sdk/replay.html | 2 +-
sdk/search.html | 2 +-
sdk/searchindex.js | 2 +-
sdk/tools.html | 2 +-
sdk/tools/calibration.html | 2 +-
sdk/tools/nerf.html | 2 +-
sdk/tracking.html | 2 +-
sdk/wrappers.html | 2 +-
sdk/wrappers/k4a.html | 81 ++---
sdk/wrappers/mobile.html | 2 +-
sdk/wrappers/oak.html | 6 +-
sdk/wrappers/orbbec.html | 108 +++---
sdk/wrappers/realsense.html | 74 ++++-
sdk/wrappers/ros.html | 2 +-
23 files changed, 791 insertions(+), 157 deletions(-)
create mode 100644 sdk/python/v1.28/index.html
diff --git a/sdk/api.html b/sdk/api.html
index f0de442..4902123 100644
--- a/sdk/api.html
+++ b/sdk/api.html
@@ -94,7 +94,7 @@
Spectacular AI SDK documentation
API Reference
- v1.27
+ v1.28
diff --git a/sdk/core.html b/sdk/core.html
index dbd6c26..bd3113a 100644
--- a/sdk/core.html
+++ b/sdk/core.html
@@ -94,7 +94,7 @@
Spectacular AI SDK documentation
Core SDK
- v1.27
+ v1.28
diff --git a/sdk/cpp/latest/index.html b/sdk/cpp/latest/index.html
index f9c69d1..53cf5b1 100644
--- a/sdk/cpp/latest/index.html
+++ b/sdk/cpp/latest/index.html
@@ -95,7 +95,7 @@
API Reference
C++
- v1.27
+ v1.28
@@ -1619,7 +1619,7 @@ C++
-Matrix4d imuToCameraLeft
+Matrix4d imuToCameraLeft = { }
@@ -2086,7 +2086,7 @@ C++
-bool postProcessFinalMap = true
+bool postProcessFinalMap = false
@@ -2625,7 +2625,7 @@ C++
-bool postProcessFinalMap = true
+bool postProcessFinalMap = false
@@ -2668,6 +2668,11 @@ C++
OBGyroFullScaleRange gyroRange = OBGyroFullScaleRange :: OB_GYRO_FS_1000dps
+
+
+Matrix4d imuToCameraRgb = { }
+
+
std :: map < std :: string , std :: string > internalParameters
@@ -2862,7 +2867,7 @@ C++
-bool postProcessFinalMap = true
+bool postProcessFinalMap = false
@@ -2892,6 +2897,12 @@ C++
Create a pipeline with custom configuration
+
+
+Pipeline ( const Configuration & config , std :: function < void ( mapping :: MapperOutputPtr ) > onMapperOutput )
+Create a pipeline with custom configuration with Mapping API enabled
+
+
void configureDevice ( rs2 :: device & device )
@@ -2907,7 +2918,7 @@ C++
void setMapperCallback ( const std :: function < void ( spectacularAI :: mapping :: MapperOutputPtr ) > & onMapperOutput )
-Set a mapping callback
+DEPRECATED: set the callback in Pipeline constructor instead.
diff --git a/sdk/custom-hardware.html b/sdk/custom-hardware.html
index d5bfde3..2bb3ed9 100644
--- a/sdk/custom-hardware.html
+++ b/sdk/custom-hardware.html
@@ -95,7 +95,7 @@
Core SDK
Custom hardware
- v1.27
+ v1.28
diff --git a/sdk/index.html b/sdk/index.html
index ced3dfa..313067a 100644
--- a/sdk/index.html
+++ b/sdk/index.html
@@ -93,7 +93,7 @@
Spectacular AI SDK documentation
Spectacular AI SDK documentation
- v1.27
+ v1.28
diff --git a/sdk/mapping.html b/sdk/mapping.html
index 605cd14..19f78ff 100644
--- a/sdk/mapping.html
+++ b/sdk/mapping.html
@@ -96,7 +96,7 @@
Core SDK
Mapping API
- v1.27
+ v1.28
@@ -112,7 +112,7 @@
post-processed results, which can also be given as inputs
to other tools such as Nerfstudio.
-—
+
Python C++
diff --git a/sdk/python/latest/index.html b/sdk/python/latest/index.html
index 2e8491f..4c101a8 100644
--- a/sdk/python/latest/index.html
+++ b/sdk/python/latest/index.html
@@ -95,7 +95,7 @@
API Reference
Python
- v1.27
+ v1.28
diff --git a/sdk/python/v1.28/index.html b/sdk/python/v1.28/index.html
new file mode 100644
index 0000000..4c101a8
--- /dev/null
+++ b/sdk/python/v1.28/index.html
@@ -0,0 +1,620 @@
+
+
+
+
+
+
+ Python — spectacularAI documentation
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ spectacularAI
+
+
+
+
+
+
+
+
+
+Python
+
+
+class spectacularAI. VioOutput
+Main output structure
+
+
+property angularVelocity
+angular velocity vector in SI units (Vector3d
)
+
+
+
+
+asJson ( self : spectacularAI.VioOutput ) → str
+a JSON representation of this object
+
+
+
+
+getCameraPose ( self : spectacularAI.VioOutput , arg0 : int ) → spectacularAI.CameraPose
+CameraPose
corresponding to a camera whose index is given as the parameter. Index 0 corresponds to the primary camera and index 1 the secondary camera.
+
+
+
+
+property globalPose
+Global pose, only returned if GNSS information is provided via Session
.addGnss(…)
+
+
+
+
+property pose
+latest Pose
+
+
+
+
+property poseTrail
+trail of smoothed historical poses (list of Pose
objects)
+
+
+
+
+property positionCovariance
+position uncertainty, 3x3 covariance matrix
+
+
+
+
+property status
+current TrackingStatus
+
+
+
+
+property tag
+input tag from addTrigger
. Set to 0 for other outputs.
+
+
+
+
+property velocity
+current velocity (Vector3d
)
+
+
+
+
+property velocityCovariance
+velocity uncertainty, 3x3 covariance matrix
+
+
+
+
+
+
+class spectacularAI. Pose
+Represents the pose (position & orientation) of a device at a given time. This typically corresponds the pose of the IMU (configurable). See CameraPose
for exact poses of the cameras.
+
+
+asMatrix ( self : spectacularAI.Pose ) → numpy.ndarray
+4x4 matrix that converts homogeneous local coordinates to homogeneous world coordinates
+
+
+
+
+fromMatrix ( self : float , arg0 : List [ List [ float [ 4 ] ] [ 4 ] ] ) → spectacularAI.Pose
+Create a pose from a timestamp and 4x4 local-to-world matrix
+
+
+
+
+property orientation
+Quaternion
orientation of the IMU / camera, local-to-world
+
+
+
+
+property position
+Vector3d
position of the IMU / camera
+
+
+
+
+property time
+float
timestamp in seconds, synchronized with device monotonic time (not host)
+
+
+
+
+
+
+class spectacularAI. Camera
+Represents the intrinsic parameters of a particular camera. If the input image is distorted, the camera and projection matrices correspond to the undistorted / rectified image.
+
+
+getIntrinsicMatrix ( self : spectacularAI.Camera ) → numpy.ndarray
+3x3 intrinsic camera matrix (OpenCV convention, undistorted).
+
+
+
+
+getProjectionMatrixOpenGL ( self : spectacularAI.Camera , arg0 : float , arg1 : float ) → numpy.ndarray
+4x4 projection matrix for OpenGL (undistorted)
+
+
+
+
+
+
+class spectacularAI. CameraPose
+Represents the pose (position & orientation) and other parameters of a particular camera.
+
+
+property camera
+Camera
: camera parameteres
+
+
+
+
+getCameraToWorldMatrix ( self : spectacularAI.CameraPose ) → numpy.ndarray
+4x4 homogeneous camera-to-world matrix
+
+
+
+
+getPosition ( self : spectacularAI.CameraPose ) → spectacularAI.Vector3d
+Vector3d
position of the camera
+
+
+
+
+getWorldToCameraMatrix ( self : spectacularAI.CameraPose ) → numpy.ndarray
+4x4 homogeneous world-to-camera matrix
+
+
+
+
+property pose
+latest Pose
+
+
+
+
+
+
+class spectacularAI. Vector3d ( * args , ** kwargs )
+Vector in R^3. Can represent, e.g., velocity, position or angular velocity. Each property is a float
.
+Overloaded function.
+
+__init__(self: spectacularAI.Vector3d) -> None
+__init__(self: spectacularAI.Vector3d, arg0: float, arg1: float, arg2: float) -> None
+
+
+
+property x
+
+
+
+
+property y
+
+
+
+
+property z
+
+
+
+
+
+
+class spectacularAI. Vector3f ( * args , ** kwargs )
+Vector in R^3. Single precision.
+Overloaded function.
+
+__init__(self: spectacularAI.Vector3f) -> None
+__init__(self: spectacularAI.Vector3f, arg0: float, arg1: float, arg2: float) -> None
+
+
+
+property x
+
+
+
+
+property y
+
+
+
+
+property z
+
+
+
+
+
+
+class spectacularAI. Quaternion
+Quaternion representation of a rotation. Hamilton convention. Each property is a float
.
+
+
+property w
+
+
+
+
+property x
+
+
+
+
+property y
+
+
+
+
+property z
+
+
+
+
+
+
+class spectacularAI. TrackingStatus ( self : spectacularAI.TrackingStatus , value : int )
+Members:
+INIT
+TRACKING
+LOST_TRACKING
+
+
+INIT = <TrackingStatus.INIT: 0>
+
+
+
+
+LOST_TRACKING = <TrackingStatus.LOST_TRACKING: 2>
+
+
+
+
+TRACKING = <TrackingStatus.TRACKING: 1>
+
+
+
+
+property name
+
+
+
+
+property value
+
+
+
+
+
+
+class spectacularAI. ColorFormat ( self : spectacularAI.ColorFormat , value : int )
+Members:
+NONE
+GRAY
+RGB
+RGBA
+GRAY16
+
+
+GRAY = <ColorFormat.GRAY: 1>
+
+
+
+
+GRAY16 = <ColorFormat.GRAY16: 7>
+
+
+
+
+NONE = <ColorFormat.NONE: 0>
+
+
+
+
+RGB = <ColorFormat.RGB: 2>
+
+
+
+
+RGBA = <ColorFormat.RGBA: 3>
+
+
+
+
+property name
+
+
+
+
+property value
+
+
+
+
+
+
+class spectacularAI. Bitmap
+Represents a grayscale or RGB bitmap
+
+
+getColorFormat ( self : spectacularAI.Bitmap ) → spectacularAI.ColorFormat
+ColorFormat
+
+
+
+
+getHeight ( self : spectacularAI.Bitmap ) → int
+int
bitmap height
+
+
+
+
+getWidth ( self : spectacularAI.Bitmap ) → int
+int
bitmap width
+
+
+
+
+toArray ( self : spectacularAI.Bitmap ) → numpy.ndarray
+Returns array representation of the bitmap
+
+
+
+
+
+
+class spectacularAI. Frame
+A camera frame with a pose
+
+
+property cameraPose
+CameraPose
corresponding this camera
+
+
+
+
+property image
+Bitmap
that will contain bitmap image if it’s available
+
+
+
+
+property index
+Camera index
+
+
+
+
+
+
+class spectacularAI. Replay ( * args , ** kwargs )
+Replay previously recorded data
+Overloaded function.
+
+__init__(self: spectacularAI.Replay, folder: str, * , mapperCallback: Callable[[spectacularAI::mapping::MapperOutput], None] = None, configuration: dict = {}) -> None
+
+Build a replay from a given folder containing the dataset
+
+__init__(self: spectacularAI.Replay, folder: str, mapperCallback: Callable[[spectacularAI::mapping::MapperOutput], None], * , configuration: dict = {}) -> None
+
+Build a replay from a given folder containing the dataset with a mapping callback
+
+
+close ( self : spectacularAI.Replay ) → None
+Closes replay.
+
+
+
+
+runReplay ( self : spectacularAI.Replay ) → None
+Starts replaying the data and blocks until close() is called or the entire session has played out
+
+
+
+
+setExtendedOutputCallback ( self : spectacularAI.Replay , arg0 : Callable [ [ spectacularAI.VioOutput , List [ spectacularAI.Frame ] ] , None ] ) → None
+Set a callback that’s called for new output
+
+
+
+
+setOutputCallback ( self : spectacularAI.Replay , arg0 : Callable [ [ spectacularAI.VioOutput ] , None ] ) → None
+Set a callback that’s called for new output
+
+
+
+
+setPlaybackSpeed ( self : spectacularAI.Replay , arg0 : float ) → None
+Sets playbacks speed, 1.0 == real time, 2.0 == fast forward 2x, 0.5 == at half speed, -1.0 == unlimited. Defaults to 1.0.
+
+
+
+
+startReplay ( self : spectacularAI.Replay ) → None
+Starts replaying the data in the background until close() is called or entire session has been played.
+
+
+
+
+
+
+class spectacularAI. WgsCoordinates ( self : spectacularAI.WgsCoordinates )
+Represents the pose (position & orientation) of a device at a given time.
+
+
+property altitude
+
+
+
+
+property latitude
+
+
+
+
+property longitude
+
+
+
+
+
+
+class spectacularAI. GnssVioOutput
+GNSS-VIO output
+
+
+property coordinates
+current WgsCoordinates
+
+
+
+
+property enuPositionCovariance
+enu position uncertainty, 3x3 covariance matrix
+
+
+
+
+getEnuCameraPose ( self : spectacularAI.GnssVioOutput , arg0 : int , arg1 : spectacularAI.WgsCoordinates ) → spectacularAI::CameraPose
+Get the global pose of a particular camera. The “world” coordinate system of the camera pose is an East-North-Up system, whose origin is at the given WGS84 coordinates.
+
+
+
+
+property orientation
+current Quaternion
+
+
+
+
+property velocity
+current Vector3d
+
+
+
+
+property velocityCovariance
+velocity uncertainty, 3x3 covariance matrix
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/sdk/recording.html b/sdk/recording.html
index 7ef04e5..f5aa267 100644
--- a/sdk/recording.html
+++ b/sdk/recording.html
@@ -95,7 +95,7 @@
Core SDK
Recording
- v1.27
+ v1.28
diff --git a/sdk/replay.html b/sdk/replay.html
index bd4176a..2836bc5 100644
--- a/sdk/replay.html
+++ b/sdk/replay.html
@@ -96,7 +96,7 @@
Core SDK
Replay API
- v1.27
+ v1.28
diff --git a/sdk/search.html b/sdk/search.html
index 36bc53c..6a0e4fd 100644
--- a/sdk/search.html
+++ b/sdk/search.html
@@ -95,7 +95,7 @@
Spectacular AI SDK documentation
Search
- v1.27
+ v1.28
diff --git a/sdk/searchindex.js b/sdk/searchindex.js
index a7ba23c..beb3653 100644
--- a/sdk/searchindex.js
+++ b/sdk/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"docnames": ["api", "core", "cpp/latest/index", "custom-hardware", "index", "mapping", "python/latest/index", "recording", "replay", "tools", "tools/calibration", "tools/nerf", "tracking", "wrappers", "wrappers/k4a", "wrappers/mobile", "wrappers/oak", "wrappers/orbbec", "wrappers/realsense", "wrappers/ros"], "filenames": ["api.md", "core.rst", "cpp/latest/index.rst", "custom-hardware.md", "index.md", "mapping.rst", "python/latest/index.rst", "recording.md", "replay.rst", "tools.md", "tools/calibration.md", "tools/nerf.md", "tracking.rst", "wrappers.md", "wrappers/k4a.rst", "wrappers/mobile.md", "wrappers/oak.rst", "wrappers/orbbec.rst", "wrappers/realsense.rst", "wrappers/ros.md"], "titles": ["API Reference", "Core SDK", "C++", "Custom hardware", "Spectacular AI SDK documentation", "Mapping API", "Python", "Recording", "Replay API", "Tools", "Calibration", "Gaussian Splatting & NeRFs", "Tracking API", "Wrappers", "Azure Kinect", "iOS & Android", "OAK-D", "ORBBEC", "RealSense", "ROS"], "terms": {"full": [0, 1, 4, 11, 16, 17], "singl": [0, 2, 3, 5, 6, 8, 12], "page": [0, 4, 7, 10, 11, 16, 17, 18], "python": [0, 4, 5, 8, 11, 12, 14, 16, 17], "c": [0, 4, 5, 8, 12, 14, 16, 17, 18], "The": [1, 2, 3, 4, 5, 6, 7, 8, 11, 12, 13, 14, 16, 17, 18], "spectacular": [1, 2, 7, 10, 11, 12, 14, 16, 17, 18, 19], "ai": [1, 2, 7, 10, 11, 12, 14, 15, 16, 17, 18, 19], "i": [1, 2, 3, 4, 5, 6, 7, 8, 10, 11, 12, 14, 15, 16, 17, 18], "platform": [1, 3, 4, 18], "independ": 1, "softwar": [1, 4, 7], "solut": 1, "real": [1, 2, 4, 5, 6, 8, 12, 14, 16, 17, 18], "time": [1, 2, 4, 5, 6, 8, 12, 14, 16, 17, 18], "3d": [1, 2, 4, 5, 11, 12], "map": [1, 2, 4, 6, 8, 16, 18], "6": [1, 2, 4, 16], "dof": [1, 2, 4, 16], "pose": [1, 2, 4, 5, 6, 11, 14, 16, 17, 18], "track": [1, 2, 4, 5, 6, 16, 18], "includ": [1, 4, 5, 7, 8, 12, 14, 16, 17, 18], "follow": [1, 2, 4, 12, 13, 14, 16, 17, 18], "public": [1, 2, 5, 8, 12, 14, 16, 17, 18], "modul": [1, 16], "which": [1, 2, 4, 5, 7, 8, 11, 12, 14, 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diff --git a/sdk/tools.html b/sdk/tools.html
index a36bba4..63b3105 100644
--- a/sdk/tools.html
+++ b/sdk/tools.html
@@ -94,7 +94,7 @@
Spectacular AI SDK documentation
Tools
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index d35adb6..fdde6aa 100644
--- a/sdk/tools/calibration.html
+++ b/sdk/tools/calibration.html
@@ -94,7 +94,7 @@
Tools
Calibration
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index 3e7f876..3d1f1fe 100644
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Tools
Gaussian Splatting & NeRFs
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diff --git a/sdk/tracking.html b/sdk/tracking.html
index 0e4faae..cfde281 100644
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Core SDK
Tracking API
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diff --git a/sdk/wrappers.html b/sdk/wrappers.html
index 72e6960..3887357 100644
--- a/sdk/wrappers.html
+++ b/sdk/wrappers.html
@@ -94,7 +94,7 @@
Spectacular AI SDK documentation
Wrappers
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diff --git a/sdk/wrappers/k4a.html b/sdk/wrappers/k4a.html
index 0dd03e8..c1c8270 100644
--- a/sdk/wrappers/k4a.html
+++ b/sdk/wrappers/k4a.html
@@ -96,7 +96,7 @@
Wrappers
Azure Kinect
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+ v1.28
@@ -131,11 +131,11 @@ Quick start
@@ -156,6 +156,19 @@ Quick start