Hi christoph,
I looked at the image of your setup you sent above. It looks to me that CamA and CamB have a few millimeters of shift on the y axis. Can you confirm this is the case? This could potentially be the cause for the calibration error. It's more likely that the error stems from the fact you are using wide FOV cameras, but it might be worth checking.

Thanks,
Jaka

    ( I am also not sure whether we already support stereo camera pairs not being on the same axis)

    Hi Jaka and Erik,

    so I just started 3d printing a mount. That should definitely help mking sure that everything is correct mechanically. I will keep you up to date with new information as soon as I tested it. @jakaskerl I wanted to ask what you mean by "It's more likely that the error stems from the fact you are using wide FOV cameras, but it might be worth checking." Could it be that the wide FOV cameras can not be used for the stereo pair?

    Best,

    Christop

    15 days later

    Hi Jaka and Erik,

    thanks for the patience and advice. I got it to calibrate, it does work now. Thank you for that. One point that I realized is that when I connect the same camera to RGB/CAM_A or CAM_D on the FFC it does detect different sensors. I attached an image of my terminal output here. In the top I connect the camera Sensor to CAM_D and it is detected correctly as OV9282, in the bottom I connect the same camera to RGB/CAM_A FFC input and it is detected as OV9782. Why is that, is there a bug in the OAK-SOM Pro Firmware that forces input on RGB/CAM_A to be an RGB camera. Connecting it to CAM_D also allows me to configure the calibration file correctly with mono as color for all cameras.

    • erik replied to this.

      Hi Erik,

      This shows similar output. Here the output from OV9282 plugged into CAM_D

      and here is the output from OV9282 plugged into RGB/CAM_A

      • erik replied to this.

        christoph looks like it's working to me - in terminal it's printed 30FPS for either CAM_A or CAM_D, just where the OV9282 is plugged into.

          Hi Eric,

          that is correct. It does show me the stream, but it detects it as the incorrect camera. It is not an OV9782. Plugging it in CAM_A gives me an error when I want to calibrate the setup with color set to "mono" for all three cameras. I have to set it to color for CAM__A, which is incorrect setting. So I wanted to ask if the firmware does on the OAK SOM has a bug there?

          The it gives is

          ~/Downloads/depthai$ python3 calibrate.py -s 3.1 -db -brd OrionAI -iv
          [{socket: RGB/CENTER/CAM_A, sensorName: OV9782, width: 1280, height: 800, orientation: AUTO, supportedTypes: [COLOR, MONO], hasAutofocus: 0, name: CAMA-4L}, {socket: LEFT/CAM_B, sensorName: OV9282, width: 1280, height: 800, orientation: AUTO, supportedTypes: [MONO, COLOR], hasAutofocus: 0, name: CAMB-2L}, {socket: RIGHT/CAM_C, sensorName: OV9282, width: 1280, height: 800, orientation: AUTO, supportedTypes: [MONO, COLOR], hasAutofocus: 0, name: CAMC-2L}]
          Cam: rgb and focus: False
          Cam: left and focus: False
          Cam: right and focus: False
          Traceback (most recent call last):
          File "/home/christoph/Downloads/depthai/calibrate.py", line 1171, in <module>
          Main().run()
          File "/home/christoph/Downloads/depthai/calibrate.py", line 358, in __init__
          pipeline = self.create_pipeline()
          File "/home/christoph/Downloads/depthai/calibrate.py", line 416, in create_pipeline
          cam_node.setResolution(camToMonoRes[cam_info['sensorName']])
          KeyError: 'OV9782'

          • erik replied to this.

            Hi christoph ,
            The FW itself can't know the difference between OV9282 and OV9782 - they are exactly the same sensor, the only difference is the bayer pattern filter. Which cameras are you using on which ports?

              7 days later

              Hi Erik,

              We designed a PCB for the OAK SOM PRO. On that one we connect OV9282 to input RGB/CAM_A, CAM_B and CAM_C. Is there any chance we get a Firmware Version that we can flash which would recognize camera sensor OV9282 correctly on RGB/CAM_A?

              • erik replied to this.
                a month later

                Hi Eric,
                thanks for the help. I got them calibrated and tested. Works very well now.

                I have a new Question. When I run three depth streams and put the Median Filter to KERNEL_3x3 or higher I get

                [1944301051D3E31200] [5.1] [2.728] [StereoDepth(3)] [critical] 'Median+Disparity to depth' out of system resources: '246'! You can increase the available memory pool by setting 'sippBufferSize' and/or 'sippDmaBufferSize' using 'setSippBufferSize' and/or 'setSippDmaBufferSize' API.
[1944301051D3E31200] [5.1] [2.728] [StereoDepth(3)] [critical] Invalid StereoDepth config. Error code: '382'. Halting.

                I see the instruction that I can increase the Memory Pool with sippBufferSize or sippDmaBufferSize, but I am not sure how. Is that something I can do or does that have to be in the Firmware?

                Best,
                Christoph