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Version: 13.2

Consolidate Object Spaces Mode

Purpose​

  • Combine multiple object spaces from a calibration result into a single, unified object space.
  • Process object space transformations using object relative extrinsics (OREs) to create a consolidated target configuration.

Usage​

metrical consolidate-object-spaces [OPTIONS] <OBJECT_SPACE_OR_RESULTS_PATH>

Concepts​

The Consolidate Object Spaces command takes a results file or an object space file that contains object relative extrinsics (OREs) and uses those transformations to combine all object spaces into a single, unified object space.

This mode is particularly useful for calibration scenarios with minimal sensor or target overlap. In such cases, users would typically:

  1. Run an initial "survey" calibration to determine object relative extrinsics
  2. Use this mode to consolidate the results into a single object space
  3. Run a full calibration using the consolidated object space
  4. Use this reference in subsequent calibrations to ensure consistency

By consolidating object spaces, you can effectively combine calibration data from multiple scenes or captures, even when there isn't significant overlap between all sensors.

Examples​

Consolidate object spaces from a calibration result​

metrical consolidate-object-spaces \
    --output-path consolidated.json \
    results.json

Use the consolidated object space in a subsequent calibration​

After creating a consolidated object space, you can use it in your calibration:

metrical calibrate \
    --output-json final_results.json \
    $DATA $PLEX consolidated.json

Force overwrite of an existing consolidated object space file​

metrical consolidate-object-spaces \
    --overwrite-consolidated-objects \
    --output-path consolidated.json \
    results.json

Arguments​

[OBJECT_SPACE_OR_RESULTS_PATH]​

A path pointing to a description of the object space or a MetriCal results JSON file. For this mode to work effectively, the input file should contain object relative extrinsics that relate multiple object spaces together.

Options​

Universal Options​

As with every mode, all universal options are supported (though not all may be used).

-o, --consolidated-object-space-path [CONSOLIDATED_OBJECT_SPACE_PATH]​

Default: consolidated_objects.json

The output path to save the consolidated object space, in JSON format. If a directory is provided, the file will be created as "consolidated_objects.json" within that directory.

-y, --overwrite-consolidated-objects​

Default: false

Overwrite an existing consolidated object space file if it exists at the specified location. If this flag is not set and the output file already exists, the operation will fail with an error.