OAK-D-PRO-W resolution settings for calibration

marlu

Hi, I try to perform a calibration routine on OAK-D-PRO-W camera, although the calibration shuts off due to the following resolution issue:
[warning] Unsupported resolution set for detected camera OV9782, needs 800_P or 720_P. Defaulting to 800_P

What is the easiest way to change the resolution to desired value, besides depthai_demo GUI? Also, changing the resolution in GUI seems confusing, as when THE_800_P is selected, terminal shows following error: OV9782 requires 720 or 800 resolution, defaulting to SensorResolution.THE_800_P

Thanks for the advice.

erik

Hi marlu ,
I don't think calibration would shut off due to this warning - as it's just a warning. But this lower resolution might cause issues down the line in calibration scripts, we haven't yet tested it. Is the default calibration not good?

marlu

erik more precisely, the calibration shuts off after spacebar press in the calibration application. The error output:

[18443010D118B00E00] [1.2.1] [0.689] [ColorCamera(4)] [warning] Unsupported resolution set for detected camera OV9782, needs 800_P or 720_P. Defaulting to 800_P
Starting image capture. Press the [ESC] key to abort.
Will take 13 total images, 1 per each polygon.
800 1280
Traceback (most recent call last):
  File "calibrate.py", line 672, in <module>
    Main().run()
  File "calibrate.py", line 664, in run
    self.capture_images()
  File "calibrate.py", line 391, in capture_images
    frame = packet[1].getCvFrame()
cv2.error: OpenCV(4.5.5) /io/opencv/modules/imgproc/src/color.simd_helpers.hpp:108: error: (-215:Assertion failed) sz.width % 2 == 0 && sz.height % 3 == 0 in function 'CvtHelper'

Is there any workaround available?

jakaskerl

Hi marlu
Which version of depthai (depthai repository (link) - not depthai pypi version) are you using? There has been a calibration overhaul few months back and looking through the code, the sensor resolution for 9782 should be correctly assigned to 800p - which would cause no "Unsupported resolution set" error.

Could you check please?

Thanks,
Jaka

marlu

Thanks @jakaskerl , depthaiSDK update helped out, it seems to be working properly now. @erik I found out that camera lenses are slightly misaligned. I would like to recalibrate the camera to see if it improves the depth output.

erik

marlu Could you share disparity/depth frame?

marlu

erik Check out the depth frame, looks quite fine. Calibration does not seem to improve it visibly.

erik

Hi marlu ,
This calibration looks good to me, tiny amount of camera rotation/misalignment is expected, that's why there's a black bar at the bottom of the frame.