Hi, I hope to do below coding with OAK-D Pro W. Could you share the reference information such as document or soure code. 1. The way of Camera Calibration 2. The way of Getting Depth Image 3. The way of Depth Image Filtering 4. The way of converting from Depth Image to PointCloud. (After the depth image filtering applied) 5. The way of Getting IMU Data 6. The way of Getting RGB Color Image 7. The way of working ROS Package 8. The way of doing Visual SLAM 9. Example of Visual Inertial Odometry Best regards, Ryan.

Hi @"RyanLee"#p5506 , Typing most of these words into our documentation search would yield a bunch of examples/resources; 1. `The way of Camera Calibration` - reading, flashing, uploading..? See **Calibration** section on [our examples](https://docs.luxonis.com/projects/api/en/latest/tutorials/code_samples/) 2. On examples page see **StereoDepth** 3. [See Depth Post-Processing](https://docs.luxonis.com/projects/api/en/latest/samples/StereoDepth/depth_post_processing/#depth-post-processing) 4. See [gen2-pointcloud demos](https://github.com/luxonis/depthai-experiments/tree/master/gen2-pointcloud) 5. On examples page see **IMU** 6. On examples page see **ColorCmaera** 7. See depthai-ros https://github.com/luxonis/depthai-ros 8/9 see [SLAM/VIO docs page](https://docs.luxonis.com/en/latest/pages/slam_oak/) Thanks, Erik

@"RyanLee"#p5535 1. Sensor xtrinsics, intrinsics, rectification matrix etc. You can export json and see all values. 4. If you want to use multi-device pointcloud fusion please follow [it's usage](https://github.com/luxonis/depthai-experiments/tree/master/gen2-multiple-devices/rgbd-pointcloud-fusion#usage). Readme's are there for a reason - to be read:) 5. Update depthai version 7. I don't think we support that - what would be the use?

General Questions

RyanLee

Hi,

I hope to do below coding with OAK-D Pro W. Could you share the reference information such as document or soure code.

The way of Camera Calibration
The way of Getting Depth Image
The way of Depth Image Filtering
The way of converting from Depth Image to PointCloud.
(After the depth image filtering applied)
The way of Getting IMU Data
The way of Getting RGB Color Image
The way of working ROS Package
The way of doing Visual SLAM
Example of Visual Inertial Odometry

Best regards,
Ryan.

erik

Hi RyanLee ,
Typing most of these words into our documentation search would yield a bunch of examples/resources;

The way of Camera Calibration - reading, flashing, uploading..? See Calibration section on our examples
On examples page see StereoDepth
See Depth Post-Processing
See gen2-pointcloud demos
On examples page see IMU
On examples page see ColorCmaera
See depthai-ros https://github.com/luxonis/depthai-ros
8/9 see SLAM/VIO docs page

Thanks, Erik

RyanLee

Hi erik

Thank you for your quick response first and i have some more question.

1.The way of Camera Calibration - reading, flashing, uploading..? See Calibration section on our examples
==> in the calibration file which calibaration data in there? such as only sensor calibration? or any more and is it same is factory calibration you are doing it the factory?

4.See gen2-pointcloud demos

PS C:\Users\ryan\depthai-experiments\gen2-multiple-devices\rgbd-pointcloud-fusion> python.exe .\main.py
Found 1 devices
[14442C10C1B163D300] [1.2.4.2] [8.573] [system] [error] No IR drivers were detected!
Traceback (most recent call last):
File "C:\Users\ryan\depthai-experiments\gen2-multiple-devices\rgbd-pointcloud-fusion\camera.py", line 57, in _load_calibration
extrinsics = np.load(path)
File "C:\Users\ryan\AppData\Roaming\Python\Python39\site-packages\numpy\lib\npyio.py", line 405, in load
fid = stack.enter_context(open(os_fspath(file), "rb"))
FileNotFoundError: [Errno 2] No such file or directory: '../multi-cam-calibration/calibration_data/extrinsics_14442C10C1B163D300.npz'

I got above errors especially below error. could you help me how to handle it?
[14442C10C1B163D300] [1.2.4.2] [8.573] [system] [error] No IR drivers were detected!

5.On examples page see IMU

PS C:\Users\ryan\depthai-python\examples\IMU> python.exe .\imu_gyroscope_accelerometer.py
Traceback (most recent call last):
File "C:\Users\ryan\depthai-python\examples\IMU\imu_gyroscope_accelerometer.py", line 49, in <module>
acceleroTs = acceleroValues.getTimestampDevice()
AttributeError: 'depthai.IMUReportAccelerometer' object has no attribute 'getTimestampDevice'

I got the error like above. Could you check below error?
AttributeError: 'depthai.IMUReportAccelerometer' object has no attribute 'getTimestampDevice'

7.See depthai-ros https://github.com/luxonis/depthai-ros
I hope to check one of the option below such as camera_model:. When i use the OAK-D-Pro W(ov9782), how can i set the "camera_model:" option??

roslaunch depthai_examples mobile_publisher.launch camera_model:=OAK-D

Best regards,
Ryan.

erik

RyanLee

Sensor xtrinsics, intrinsics, rectification matrix etc. You can export json and see all values.
If you want to use multi-device pointcloud fusion please follow it's usage. Readme's are there for a reason - to be read🙂
Update depthai version
I don't think we support that - what would be the use?

RyanLee

Hi erik

Thank you for your quick response. 1,2,3 is clear so far. if there is any more question i will come back to you.
And the number 4, i hope to run ros2 with OAK-D-Pro W(OV9782). so to run this i would like to check its option for it like camera_model:=OAK-D for OAK-D. I hope to know the option for OAK-D-Pro W(OV9782).

Best regards,
Ryan.