Stereo rectified streams have rectification issues on sdk 2.21

mrvladimir

I tried on devel branch again for depthai-python. This time the rectificaiton worked.

mrvladimir

This bug in version 2.21.2 is blocking us from using it. When will the new SDK with the fix from develop branch be released?

jakaskerl

@erik

erik

Hi @mrvladimir ,
Which error/fix are you referring to?

mrvladimir

Hi @erik ,

I'm referring to the error in this post. The rectified images from the depth node are improperly rectified, as you can see in picture in the first post in this thread.

The same camera calibration, which used to work on sdk 2.20, produces the badly undistorted images above in sdk 2.21, and that is fixed if I use the devel branch.

erik

Hi mrvladimir ,
Thanks for the info, yes I think we pushed some checks to develop which auto-applies device-calibrated meshes for wide FOV cameras.

mrvladimir

This was not on a wide angle camera. It was on OAK-D.

Also do you have an estimate when there will be a new SDK release with the fix?

mrvladimir

Just to add more to the issue, here are two images of the same scene with the same exact calibration rectified by SDK 2.21.2 and by the devel branch:

(red lines added in GIMP to show curvature)

2.21.2:

devel branch:

Clearly something is off with the rectification in sdk 2.21.2. @erik when can we expect a fix with a stable release version? We can't use the devel branch in our code because there are other stability issues with the devel branch.

erik

Hi mrvladimir ,
Sorry about the my confusion, but by devel branch do you mean develop branch? If that's the case, then that's great news as it will be released soon to mainline. What are the stability issues on the develop branch - is there a separate ticket for that?

mrvladimir

Hi @erik ,

Yes, I mean the develop branch. Any hint of when soon is? Within the next week or within the next month?

I thought that a random commit on the develop branch shouldn't be expected to be stable. I assume the develop branch is an in-progress branch. I didn't report the issues for it because I assumed you're all aware of them, for example building with it throws c++ compile warnings.

Thanks,

Vladimir

erik

Hi mrvladimir ,
I'd say this month, I doubt next week already. Usually, it's stable, but really long-term tests / stress tests happen on PR from develop to main, so until then we can't be 100% it's stable. And yes, please do report any issues on develop as well, it helps us find them sooner rather than later.
Thanks, Erik