Default Calibration of BW10980BC

sleduc

I recently acquired the BW10980BC and have been having fun running the depthAI tutorials. I am really very new to this and the tutorials have been extremely helpful. I have some sample code which is loading a "calib.npz " calibration file to obtain the Q matrix for the cv2.perspectiveTransform call. Is there calibration file in this format for the BW10980BC that I can use? Using the default.calib does not seem to work. If not, do you know how I would obtain the Q matrix for the BW10980BC?

Thanks in advance for the help! - Sheryl

Mulong

depthai/depthai_helpers/calibration_utils.py

I think you can modify this file by adding any code at line 323.

For example,
np.savez('calib.npz', Q=self.Q)

Then perform a calibration according to the document, and the files you need should be saved to the depthai/depthai_helpers folder

luxonis-Sachin

Mulong Hey Mulong,
So the Q matrix can be recreated from the other information you already have. Here is the link which gives an idea of that.
and xxx.calib file is a binary file we have to write to EEPROM and we don't add the information that can be reproduced from other details to save memory on EEPROM.

And as of default.calib. it is a really old file and our calibration process has come long way from that. I would suggest ignoring that file.

Solution to your problem:
In gen2 calibration api is still WIP so I would suggest using gen1 to retrive that information.
Here is the api to get intriniscs
Once you have the intrinsics of both the cameras you can use the c_x and c_y from the right camera, Translation from right-left(T_x) along with c_x` of the left camera.

We will have functions to return this information along with the function to get the Q matrix in gen2 later.

Brandon

Thanks @Mulong for the assist (and actually I don't know this personally to this depth, so particularly appreciated on my end). So I'm adding Sachin as well as he's our calibration expert.

sleduc

Thank you so much for your help with this! I think that I have a Q matrix now 🙂

However, I ran into another issue so I cannot see if the Q matrix is ok. I am searching for help here and on the DepthAI website, but I have not found anything yet. Below is the output in the terminal window. Do any of you know what a "Device get data failed: 7" error is?

XLink initialized.
Sending internal device firmware
Successfully connected to device.
Usb speed : Super/5000Mbps
Mx serial id : 14442C10C1DC11D100
Loading config file
Attempting to open stream config_d2h
watchdog started
Successfully opened stream config_d2h with ID #0!
Closing stream config_d2h: ...
Closing stream config_d2h: DONE.
EEPROM data: valid (v5)
Board name : BW1098OBC
Board rev : R0M0E0
HFOV L/R : 71.86 deg
HFOV RGB : 68.7938 deg
L-R distance : 7.5 cm
L-RGB distance : 3.75 cm
L/R swapped : yes
L/R crop region: center
Rectification Rotation R1 (left):
0.999953, 0.008693, 0.004363,
-0.008690, 0.999962, -0.000797,
-0.004369, 0.000760, 0.999990,
Rectification Rotation R2 (right):
0.999793, 0.020279, -0.001531,
-0.020278, 0.999794, 0.000794,
0.001547, -0.000763, 0.999999,
Calibration intrinsic matrix M1 (left):
857.669983, 0.000000, 634.107666,
0.000000, 857.847534, 400.311829,
0.000000, 0.000000, 1.000000,
Calibration intrinsic matrix M2 (right):
855.142273, 0.000000, 637.742004,
0.000000, 855.706970, 406.102295,
0.000000, 0.000000, 1.000000,
Calibration rotation matrix R:
0.999915, -0.011584, 0.005925,
0.011593, 0.999932, -0.001472,
-0.005907, 0.001540, 0.999981,
Calibration translation matrix T:
-7.459529,
-0.151302,
0.011424,
Calibration Distortion Coeff d1 (Left):
-4.946535, 14.375317, 0.001487, -0.000638, -11.891014, -5.000238, 14.571597,
-12.075688, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
Calibration Distortion Coeff d2 (Right):
-5.189321, 16.614038, 0.000854, -0.000960, -16.556196, -5.240158, 16.807529,
-16.738096, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
../../../depthai/resources/nn/landmarks-regression-retail-0009/landmarks-regression-retail-0009.json
depthai: Using calibration from stored in EEPROM
config_h2d json:
{"board":{"calib_data":[0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0],"mesh_left":[0.0],"mesh_right":[0.0]},"load_inBlob":true,"pipeline":{"streams":[{"name":"color"},{"name":"rectified_right"},{"name":"disparity"}]},"ai":{"NCEs":1,"NN_config":{"NN_family":"mobilenet","confidence_threshold":0.5,"output_format":"detection"},"blob0_size":533632,"blob1_size":0,"calc_dist_to_bb":false,"camera_input":"rgb","cmx_slices":1,"keep_aspect_ratio":true,"num_stages":1,"shaves":1},"app":{"enable_reconfig":true,"sync_sequence_numbers":true,"sync_video_meta_streams":false,"usb_chunk_KiB":0},"board":{"clear-eeprom":false,"left_fov_deg":69.0,"left_to_rgb_distance_m":0.0,"left_to_right_distance_m":0.03500000014901161,"name":"","override-eeprom":false,"revision":"","rgb_fov_deg":69.0,"stereo_center_crop":false,"store-to-eeprom":false,"swap-left-and-right-cameras":false},"camera":{"mono":{"fps":30.0,"resolution_h":720,"resolution_w":1280},"rgb":{"fps":30.0,"resolution_h":1080,"resolution_w":1920}},"depth":{"depth_limit_mm":10000,"lr_check":false,"median_kernel_size":7,"padding_factor":0.30000001192092896,"warp_rectify":{"edge_fill_color":0,"mirror_frame":true,"use_mesh":false}},"ot":{"confidence_threshold":0.5,"max_tracklets":20}}
size of input string json_config_obj to config_h2d is ->1632
size of json_config_obj that is expected to be sent to config_h2d is ->1048576
Attempting to open stream config_h2d
Successfully opened stream config_h2d with ID #1!
Writing 1048576 bytes to config_h2d
!!! XLink write successful: config_h2d (1048576)
Closing stream config_h2d: ...
Closing stream config_h2d: DONE.
Creating observer stream host_capture: ...
Attempting to open stream host_capture
Successfully opened stream host_capture with ID #0!
Creating observer stream host_capture: DONE.
Read: 533632
Attempting to open stream inBlob
Successfully opened stream inBlob with ID #2!
Writing 533632 bytes to inBlob
!!! XLink write successful: inBlob (533632)
Closing stream inBlob: ...
Closing stream inBlob: DONE.
depthai: done sending Blob file ../../../depthai/resources/nn/landmarks-regression-retail-0009/landmarks-regression-retail-0009.blob
Attempting to open stream outBlob
Successfully opened stream outBlob with ID #3!
E: [global] [ 65696] [python3] addEvent:262 Condition failed: event->header.flags.bitField.ack != 1
E: [global] [ 65696] [python3] addEventWithPerf:276 addEvent(event) method call failed with an error: 3
E: [global] [ 65696] [python3] XLinkReadData:156 Condition failed: (addEventWithPerf(&event, &opTime))
Device get data failed: 7
Closing stream outBlob: ...

luxonis-Sachin

sleduc Can you try python3 depthai_demo.py this will run rgb camera with mobile-net so that we can confirm that works fine.
if that fails too then `python3 depthai_demo.py -fusb2.

And also can you share the command you executed so that I can check if I can recreate the error ?

sleduc

Hi Sachin,

I did immediately try the HelloWorld code that I built from the tutorial and it worked. The depthai_demo.py will not work at the moment as I have installed version 0.0.2.1 to try out a hand_tracker example. This is working. I am thinking that it may have been something with the way that I created the blob from the bin and xml. I tried running the myriad_compile command per the information on this site but it failed with one of the options, -VPU_MYRIAD_PLATFORM VPU_MYRIAD_2480. I removed that option and everything seemed to work ok and the blob was created.

Is it bad to stay with depthai version 0.0.2.1 for now? I can reinstall the other version on the weekend and will test some more. I would just like to test the camera out with something that is working with gestures.

Thank you so much for your help!

luxonis-Sachin

sleduc Hand tracker uses gen2. So yes you might need to change that, and the issue might be with your blob and the number of cmx_slices and shaves allocated for that.

sleduc

I just found the other thread that describes how to use PyCharm to go back and forth between Gen1 and Gen2. I will give this a try as well.

Sheryl