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11 @page dwx_calibration_graph_to_rig Calibrated Graph to Rig File Tool
14 @section dwx_calibration_graph_to_rig_description Description
16 The NVIDIA<sup>®</sup> DriveWorks Calibrated Graph to Rig File tool extracts the relevant parts from a JSON calibrated graph file as input, into a JSON rig file as output.<br>
17 This output file can be parsed by the @ref rig_mainsection module within DriveWorks.
19 @section dwx_calibration_graph_to_rig_prereqs Prerequisites
21 This tool is available on the x86 Host System and NVIDIA DRIVE<sup>™</sup> OS Linux.
23 This tool creates output files that are placed into the current working directory by default. Please ensure the following for your convenience:
24 - Write permissions are enabled for the current working directory.
25 - Include the tools folder in the binary search path of the system.
26 - Execute from your home directory.
28 @section dwx_calibration_graph_to_rig_usage Running the Tool
30 Run the tool by executing:
32 /calibration-graph-to-rig --graph=[path to input calibrated-graph.json file]
33 --rig=[path to input rig.json file]
34 --output=[path to output rig file]
36 @subsection dwx_calibration_graph_to_rig_parameters Parameters
38 --graph=[path to input calibrated-graph.json file]
39 Description: The input calibrated graph file.
40 If only this parameter is provided, a `rig.json` file is created from scratch.
42 --rig=[path to input rig.json file]
43 Description: The input rig file.
44 If this parameter and `--graph` are both provided, the calibration data from the `calibrated-graph.json` file
45 is merged with the input `rig.json` file.
47 --output=[path to output rig file]
48 Description: The output rig file. If this parameter is specified, the `calibrated-graph.json` and `rig.json` files
49 are saved to a separate file. The default setting overwrites the input `rig.json` file.
51 @section dwx_calibration_graph_to_rig_output Output
53 The tool generates a `rig.json` file in the current folder as output. This file lists all cameras used during calibration with their intrinsic \n and extrinsic calibration data. If an existing `rig.json` file is passed to the application as input, all camera entries are modified with the new calibration results.<br>
54 For additional information regarding the format for the produced JSON file, please refer to @ref rig_mainsection and @ref rigconfiguration_usecase0.
56 @section dwx_calibration_graph_to_rig_additional Additional Information
58 This tool uses the center of the rear axle projected to the ground as a coordinate system origin.<br>
59 For additional information regarding this coordinate system, please refer to @ref dwx_coordinate_systems.