Depth of modular OAK-D camera before calibration?

Hi erik

When trying to visualize the depth, we got :
[14442C1081F4D5D600] [9.1] [18.519] [StereoDepth(8)] [error] There is no available extrinsic calibration between camera ID: '1' and '2'

Does it mean that calibration file is missing?

Other developer got different error with the custom script :

$ python3 ex1_c2.py

Reading calib data

...done

Check that everything is nice and cool

Setup done. Some checks first

Traceback (most recent call last):

File "/home/tmatila/tommi/DepthAI/ex1_c2.py", line 80, in <module>

with dai.Device(pipeline) as device:

RuntimeError: StereoDepth(4) - StereoDepth | Invalid resolution: Width 1920, Height 1200

The script :

import depthai as dai

import cv2

import numpy as np

def getFrame(queue):

frame = queue.get()

return frame.getCvFrame()

def getMonoCamera(pipeline,isLeft):

mono = pipeline.createMonoCamera()

mono.setResolution(dai.MonoCameraProperties.SensorResolution.THE_1200_P)

if isLeft:

mono.setBoardSocket(dai.CameraBoardSocket.LEFT)

else:

mono.setBoardSocket(dai.CameraBoardSocket.RIGHT)

return mono

if __name__ == '__main__':

# THE_720_P = 1280×720

# THE_800_P = 1280×800

# THE_400_P = 640×400

# THE_480_P = 640×480

# THE_1200_P = 1920×1200

pipeline = dai.Pipeline()

monoL = getMonoCamera(pipeline,isLeft= True )

monoR = getMonoCamera(pipeline,isLeft= False)

print("Reading calib data")

with dai.Device(pipeline) as device:

calibData = device.readCalibration()

print("...done")

# ======================================================

manipResize_L = pipeline.create(dai.node.ImageManip)

manipResize_L.initialConfig.setResize(640, 400)

manipResize_L.initialConfig.setKeepAspectRatio(True)

manipResize_R = pipeline.create(dai.node.ImageManip)

manipResize_R.initialConfig.setResize(640, 400)

manipResize_R.initialConfig.setKeepAspectRatio(True)

# ======================================================

monoR.out.link(manipResize_L.inputImage)

monoL.out.link(manipResize_R.inputImage)

# ======================================================

#print("--- Set up depth and disparity ---")

stereo = pipeline.createStereoDepth()

print("Check that everything is nice and cool")

# Check occluded pixels (performance hit)

stereo.setLeftRightCheck(True)

#stereo.setLeftRightCheck(False)

manipResize_L.out.link(stereo.left)

manipResize_R.out.link(stereo.right)

xoutDepth = pipeline.createXLinkOut()

xoutDepth.setStreamName("depth")

xoutDisp = pipeline.createXLinkOut()

xoutDisp.setStreamName("disparity")

#print("--- Set up rectified images links ---")

xoutRectLeft = pipeline.createXLinkOut()

xoutRectLeft.setStreamName("rectifiedLeft")

xoutRectRight = pipeline.createXLinkOut()

xoutRectRight.setStreamName("rectifiedRight")

#print("--- Set stereo config ---")

stereo.disparity.link(xoutDisp.input)

stereo.rectifiedLeft.link(xoutRectLeft.input)

stereo.rectifiedRight.link(xoutRectRight.input)

print("Setup done. Some checks first")

with dai.Device(pipeline) as device:

# Print MxID, USB speed, and available cameras on the device

print('MxId:',device.getDeviceInfo().getMxId())

print('USB speed:',device.getUsbSpeed())

print('Connected cameras:',device.getConnectedCameras())

print("Opening image queues")

with dai.Device(pipeline) as device:

print("Update debug log level")

# Set debugging level

device.setLogLevel(dai.LogLevel.DEBUG)

device.setLogOutputLevel(dai.LogLevel.DEBUG)

print("Set queues")

qDisp = device.getOutputQueue(name="disparity" , maxSize=1, blocking =False)

qRectL = device.getOutputQueue(name="rectifiedLeft" , maxSize=1, blocking =False)

qRectR = device.getOutputQueue(name="rectifiedRight" , maxSize=1, blocking =False)

scale = 255 / stereo.getMaxDisparity()

cv2.namedWindow("Stereo Pair")

cv2.setMouseCallback("Stereo Pair",mouseCallback)

sideBySide = False

print("Start loop")

while(True):

disparity = getFrame(qDisp)

disparity = (disparity*scale).astype(np.uint8)

#disparity = cv2.applyColorMap(disparity, cv2.COLORMAP_JET)

disparity = cv2.applyColorMap(disparity, cv2.COLORMAP_TURBO)

frameL = getFrame(qRectL)

frameR = getFrame(qRectR)

if sideBySide:

imOut = np.hstack((frameL,frameR))

else:

imOut = np.uint8(frameL/2 + frameR/2)

imOut = cv2.cvtColor(imOut,cv2.COLOR_GRAY2RGB)

imOut = cv2.line (imOut, (mouseX,mouseY), (1280,mouseY), (0,0,255), 2)

imOut = cv2.circle(imOut, (mouseX,mouseY), 2, (255,255,128), 2)

cv2.imshow("Stereo Pair",imOut)

cv2.imshow("Disparity",disparity)

k = cv2.waitKey(1)

if k==ord('q'):

break

elif k == ord('t'):

sideBySide = not sideBySide

Could you instruct more, please ?

Thanks and Best Regards,
Khang