Accessing Global Settings

The Global Settings in Synapse store:

  • Camera Config map

  • Camera Calibration data

  • Camera details

  • Camera to robot transform

  • Default Pipeline indicies

Those values can be accessed via the GlobalSettings meta class, via methods such as GlobalSettings.getCameraConfigMap() which will result in a map between CameraID (int alias) and CameraConfig .

Usage examples for this class can be seen in the ApriltagPipeline class which uses it in order to gather the camera's distortion coeffs and instrict matrix.

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