About calibration points

Mechanism

Calibration points are essential for this card to work with vacuums that use coordinates systems for cleaning. They allow to map position on the map image (in pixels) to coordinates used by the vacuum.

Such mapping is created using:

• affine transformation - if 3 calibration points are provided; handles images without perspective warp
• perspective transformation - if 4 calibration points are provided; handles images with perspective warp (e.g. floorplans)

Formatting for integrations

Calibration points are read from the integration if they are formatted in the following way:

[
  {
    "vacuum": {
      "x": 25500,
      "y": 25500
    },
    "map": {
      "x": 224,
      "y": 360
    }
  },
  {
    "vacuum": {
      "x": 26500,
      "y": 25500
    },
    "map": {
      "x": 264,
      "y": 360
    }
  },
  {
    "vacuum": {
      "x": 25500,
      "y": 26500
    },
    "map": {
      "x": 224,
      "y": 320
    }
  }
]

• vacuum - represents a point in vacuum coordinates
• map - represents a point on the map image (in pixels)

Requirements:

• points have to be non-linear
• for the best results 3 (4 if needed) corners of a rectangle should be used
• points don't have to be within the map boundaries