both calibData.getImuToCameraExtrinsics(dai::CameraBoardSocket::RIGHT, false) and calibData.getImuToCameraExtrinsics(dai::CameraBoardSocket::RIGHT, true) got terminate called after throwing an instance of 'std::runtime_error' what(): IMU calibration data is not available on device yet. Is this going to be supported? Thanks!

getCameraToImuExtrinsics() same result

Hello @Dong_Liu , so the error means that your device hasn't been calibrated. You can calibrate your device following this tutorial . Just curious, which device do you have (and where did you buy it from)?

Hi erik , the device is OAK-D, my co-worker purchased it. I'll ask him where did he ordered it. But do you mean the device hasn't been calibrated for the IMU to LEFT, RIGHT and RGB cameras or it hasn't been calibrated at all? Because I can get other calibration info, such as camera's intrinsics, left right camera extrinsics etc just fine. Thanks!

I'm actually not sure about the IMU calibration. Asking Sachin for help here. He's from US so will probably respond later.

Hi erik, another question. The distortion coeff I got from calibData.getDistortionCoefficients(dai::CameraBoardSocket::RIGHT); is [9.6685 26.4033 0.000109294 -0.00131915 177.747 9.71128 24.7958 178.397 0 0 0 0 0 0] Are these right values? they seem too big. And the images captured on the host side seem have no distortion. Actually if I use these value to undistort the images, I got some fisheye results. Thanks!

Dong_Liu We don't have IMU calibration inPlace during factory calibration. Hence it is empty. We will be adding IMU calibration support in the future.

Dong_Liu Those are fine. Since the equation is the ratio the big numbers don't make any difference. We use a rational model from OpenCV and they provide large numbers instead of small floats. Hope this answers your doubt.

luxonis-Sachin Thanks for the info. Is there any instructions to calibrate IMU? I could not find how to calibrate imu from the video and calibrate.py on luxonis web site. Thanks,

luxonis-Sachin Yes, I tried it again. The distort coefficients are correct. I didn't realize I need to use the whole vector to call cv.undistot(), I just used the first 4 elements, so it gave me wrong result. Thanks!

Dong_Liu We don't have IMU calibration support yet since we had to prioritize over some CV features. But if more users or use-cases request we can increase the priority on this I suppose.

getImuToCameraExtrinsics error

luxonis-Sachin

Dong_Liu I would suggest ignoring the camera intrinsic from this and use the IMU extrinsics and other information for the usecase without affecting the EEPROM would be best.
As of Why. We calibrate the camera at full resolution in the factory so that it gets scaled well when used at different resolutions for stereo. So it might not be a good idea to mess with calibrated stereo I think.
Thoughts ?

Dong_Liu

luxonis-Sachin The imu calibration from IMU to camera needs the cameras intrinsics. I will use the intrinsics from the eprom to calibrate the IMU. But can you confirm the eprom stored left right extrinsics calibration are wrong, that is the decimal points in t1 is wrong?

Thanks.

luxonis-Sachin

Dong_Liu DepthAi stores the calibration in cm units. I think it's in meters in Kalibr. you need to change the scale.

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