HFOV of OAK-1 W not avaible

Henrik

Hello Dear Luxonis-Team,

i have bought an OAK-1 w camera from one of your listed distributors. As listed on your website the camera specifications should be:

DFOV / HFOV / VFOV = 120° / 95° / 70° when the RGB Camera is an: IMX378.

But when I run the example script:

#include <iostream>

// Includes common necessary includes for development using depthai library

#include "depthai-shared/common/CameraBoardSocket.hpp"

#include "depthai-shared/common/EepromData.hpp"

#include "depthai/depthai.hpp"

// Include OpenCV

#include <opencv2/opencv.hpp>

int main() {

// Create pipeline

dai::Pipeline pipeline;

// Define source and outputs

auto camRgb = pipeline.create<dai::node::ColorCamera>();

auto xoutVideo = pipeline.create<dai::node::XLinkOut>();

auto xoutPreview = pipeline.create<dai::node::XLinkOut>();

xoutVideo->setStreamName("video");

xoutPreview->setStreamName("preview");

// Properties

camRgb->setPreviewSize(300, 300);

camRgb->setBoardSocket(dai::CameraBoardSocket::CAM_B);

camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_12_MP);

camRgb->setInterleaved(true);

camRgb->setColorOrder(dai::ColorCameraProperties::ColorOrder::BGR);

// Linking

camRgb->video.link(xoutVideo->input);

camRgb->preview.link(xoutPreview->input);

// Connect to device and start pipeline

dai::Device device(pipeline);

dai::CalibrationHandler calibData = device.readCalibration();

auto FOV = calibData.getFov(dai::CameraBoardSocket::CAM_B);

std::cout << "FOV is " << FOV << std::endl;

auto video = device.getOutputQueue("video");

auto preview = device.getOutputQueue("preview");

while(true) {

    auto videoFrame = video->get<dai::ImgFrame>();

    auto previewFrame = preview->get<dai::ImgFrame>();

    cv::Mat myDM;

    auto fps = videoFrame->getCvFrame();

    myDM=videoFrame->getCvFrame();

    // Get BGR frame from NV12 encoded video frame to show with opencv

    cv::namedWindow("CamPos", 0);

    cv::resizeWindow("CamPos", myDM.cols/4, myDM.rows/4);

    cv::imshow("CamPos", myDM);

    // Show 'preview' frame as is (already in correct format, no copy is made)

    cv::imshow("preview", previewFrame->getFrame());

    int key = cv::waitKey(1);

    if(key == 'q' || key == 'Q') return 0;

}

return 0;

}

I only receive as an output 68.7938 from the EEPROM.

I also tried the solution from this post https://discuss.luxonis.com/d/649-can-t-get-full-fov, but the result was the same.

Now that I am looking at the camera specs from the OAK-1, which are FOV (D/H/V) = 82° / 69° / 55°, I wonder if I got the wrong camera or if I am missing some point.

I also used the calculator https://fov.luxonis.com/ to compute some theoretical solutions and tried to verify them by testing it in reality, but i still got wrong results.

The camera I brought is also labeled as an "OAK-1 W" on the left side of the housing.

I hope you can help me with my problem.

Kind regards

Henrik

jakaskerl

Hi Henrik
Can you add a photo of the camera please. It should be easy to spot whether you have the W or the standard camera module installed.

Thanks,
Jaka

Henrik

These are the pictures from the housing and the delivery box:

And here is a picture of the image sensor:

jakaskerl

Hi Henrik
You have the W version of the OAK-1. You should be getting the full FOV, but it might be that the calibration file says 68 since the script used in calibration uses same base values for both 378 and 378-W. This should not affect your end FOV. Can you confirm this is the case?

Oak1 calibration config - https://github.com/luxonis/depthai-boards/blob/e9dfca0572a264cc93cb556c926e73a2609cdcae/boards/OAK-1.json
I think that in the old calibration procedure we had both oak1 and oak1-w set with the same starting fov - which would be overriden during the calibration itself.

Thanks,
Jaka

Henrik

This is the readout from the EEPROM, if i am using the debugger.

So you are saying, that despite having the wrong calibration file, I should still get the entire FOV?

Does the wrong config file also affect the camera intrinsic matrix and the distortion coefficients?

jakaskerl

Hi Henrik
You can test that out by setting useSpec to false:

auto FOV = calibData.getFov(dai::CameraBoardSocket::CAM_A, useSpec=false);
This will calculate the fov based on intrinsics (focal length, image width), instead of getting it from the camera specs.

Thanks,
Jaka

Henrik

Hi, jakaskerl

thanks for the advise. So the computed FOV is 80°, but this is still of from the advertised/desired FOV of 95°. Is there a possibility to increase the FOV?

erik

Henrik Do you actually have 80deg FOV, or does it just get reported as such?