Hi Oak Community, I've bought an OAK-FFC-3P and two OAK-FFC OV9782 global shutter cameras listed on the "cameras are compatible with this OAK FFC baseboard". It's running on a Jetson Orin Nano with 8GB RAM. Can anyone see where I am going wrong? I think I have followed the steps correctly? [URL=https://i.imgur.com/Oy6Frwf.jpg][IMG]https://i.imgur.com/Oy6Frwfh.jpg[/IMG][/URL] There is no CAM_B or CAM_C on the OAK-FFC-3P like noted in the calibration tutorial, but I assume that the CAM_L is CAM_B and CAM_R is CAM_C. It notes R3M0E3 on the OAK-FFC-3P so I have noted that as the revision. The cameras are spaced 6cm apart. This is the calibration json file (I've just replaced the hfov and the x translation like in the example): `{` ` "board_config": {` ` "name": "OAK-FCC-3P",` ` "revision": "R3M0E3",` ` "cameras": {` ` "CAM_C": {` ` "name": "right",` ` "hfov": 75,` ` "type": "mono",` ` "extrinsics": {` ` "to_cam": "CAM_B",` ` "specTranslation": {` ` "x": 6,` ` "y": 0,` ` "z": 0` ` },` ` "rotation": {` ` "r": 0,` ` "p": 0,` ` "y": 0` ` }` ` }` ` },` ` "CAM_B": {` ` "name": "left",` ` "hfov": 75,` ` "type": "mono"` ` }` ` },` ` "stereo_config": {` ` "left_cam": "CAM_B",` ` "right_cam": "CAM_C"` ` }` ` }` `}` I run it like this (with no RGB camera): `python3 calibrate.py -s 3.4 --board OAK-FFC-3P.json -nx 11 -ny 8 -dsb rgb` The EEPROM flashes successfully. These are the calibration dots and some example images saved in the dataset folder: [upl-image-preview url=https://discuss.luxonis.com/assets/files/2024-02-15/1707986815-430290-left-coverage.png] [upl-image-preview url=https://discuss.luxonis.com/assets/files/2024-02-15/1707986826-68710-right-coverage.png] [upl-image-preview url=https://discuss.luxonis.com/assets/files/2024-02-15/1708033467-648151-image.png] This is the resulting depth results running depth_preview.py. [upl-image-preview url=https://discuss.luxonis.com/assets/files/2024-02-15/1707990953-147731-screenshot-from-2024-02-15-19-19-22.png] And this is the depth_preview_sr.py results: [upl-image-preview url=https://discuss.luxonis.com/assets/files/2024-02-15/1707991791-287104-screenshot-from-2024-02-15-20-08-59.png] Trying depth_preview_lr.py just errors: `[14442C10619FCAD600] [1.2.4] [1.838] [ColorCamera(1)] [error] Camera not detected on socket: 0` `[14442C10619FCAD600] [1.2.4] [1.838] [ColorCamera(0)] [warning] Unsupported resolution set for detected camera OV9782, needs 800_P or 720_P. Defaulting to 800_P` `[14442C10619FCAD600] [1.2.4] [1.839] [ColorCamera(2)] [warning] Unsupported resolution set for detected camera OV9782, needs 800_P or 720_P. Defaulting to 800_P` `[14442C10619FCAD600] [1.2.4] [2.023] [StereoDepth(4)] [error] Left input image width ('854') must be multiple of 16. Skipping frame!` `[14442C10619FCAD600] [1.2.4] [2.039] [StereoDepth(4)] [error] Left input image width ('854') must be multiple of 16. Skipping frame!` `[14442C10619FCAD600] [1.2.4] [2.072] [StereoDepth(4)] [error] Left input image width ('854') must be multiple of 16. Skipping frame!` The /depthai-experiments/gen2-camera-demo seems to get slightly better results, but still not close the demo quality? [upl-image-preview url=https://discuss.luxonis.com/assets/files/2024-02-15/1708001355-892391-image.png] The point cloud generated using open3D: [upl-image-preview url=https://discuss.luxonis.com/assets/files/2024-02-15/1708034789-528518-image.png] This is sad quality compared to examples demos and won't be viable 😰 Not sure how to improve this?

Hi @"robomick"#2174 , Are you sure left and right aren't flipped, perhaps during calibration, or in the example itself? Note that "depth_preview_lr" isn't the correct demo, as it assumes you are using AR0234 (2.1MP sensor, so it does downscaling), while you are using OV9282 (1MP sensor).

The example notes CAM_C as right so I have it connected to CAM_R, and CAM_B as left so I have it connected to CAM_L? The guide notes a positive translation from C to B so I entered positive 6? I think that is all correct? [upl-image-preview url=https://discuss.luxonis.com/assets/files/2024-02-16/1708088373-854312-image.png] [URL=https://i.imgur.com/07MkrOM.jpg][IMG]https://i.imgur.com/07MkrOMh.jpg[/IMG] [/URL] [URL=https://i.imgur.com/DLyEQkZ.jpg][IMG]https://i.imgur.com/DLyEQkZh.jpg[/IMG][/URL] [URL=https://i.imgur.com/FLG2a06.jpg][IMG]https://i.imgur.com/FLG2a06h.jpg[/IMG][/URL] [URL=https://i.imgur.com/ZlAkUym.jpg][IMG]https://i.imgur.com/ZlAkUymh.jpg[/IMG][/URL] The camera text is upside down on the camera modules, but the cameras appear up the correct way in the testing, so I assume that's not critical?

Hi @"robomick"#2174 , Could you also provide the `dataset` folder inside depthai repo? It contains images that were used for the calibration. Also, how firm is the holder for the stereo cameras? seems like everything is made out of plastic, even screws, which might be prone to bending. And even a tiny bending will cause significant depth quality loss.

@"robomick"#2174 , Could you please try switching inpurts to StereoDepth node? So link left mono cam to depth.right, and right mono cam to depth.left input: ``` monoLeft.out.link(depth.right) monoRight.out.link(depth.left) ```

@"erik"#p17398 So the original code without swapping: [upl-image-preview url=https://discuss.luxonis.com/assets/files/2024-02-16/1708127557-555349-original.png] And with the swapped: `monoLeft.out.link(depth.right)` `monoRight.out.link(depth.left)` [upl-image-preview url=https://discuss.luxonis.com/assets/files/2024-02-16/1708127587-415384-left-right-swap.png] This is the code I am running to view the stereo: `#!/usr/bin/env python3` `import cv2` `import depthai as dai` `import numpy as np` `# Closer-in minimum depth, disparity range is doubled (from 95 to 190):` `extended_disparity = False` `# Better accuracy for longer distance, fractional disparity 32-levels:` `subpixel = False` `# Better handling for occlusions:` `lr_check = True` `# Create pipeline` `pipeline = dai.Pipeline()` `# Define sources and outputs` `monoLeft = pipeline.create(dai.node.MonoCamera)` `monoRight = pipeline.create(dai.node.MonoCamera)` `depth = pipeline.create(dai.node.StereoDepth)` `# Output nodes for disparity, left, and right images` `xoutDisparity = pipeline.create(dai.node.XLinkOut)` `xoutLeft = pipeline.create(dai.node.XLinkOut)` `xoutRight = pipeline.create(dai.node.XLinkOut)` `xoutDisparity.setStreamName("disparity")` `xoutLeft.setStreamName("left")` `xoutRight.setStreamName("right")` `# Properties` `monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)` `monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT) # Use setBoardSocket with enum` `monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)` `monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT) # Use setBoardSocket with enum` `# Configure StereoDepth node` `depth.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)` `depth.initialConfig.setMedianFilter(dai.MedianFilter.KERNEL_7x7)` `depth.setLeftRightCheck(lr_check)` `depth.setExtendedDisparity(extended_disparity)` `depth.setSubpixel(subpixel)` `# Linking` `monoLeft.out.link(depth.left)` `monoRight.out.link(depth.right)` `depth.disparity.link(xoutDisparity.input)` `monoLeft.out.link(xoutLeft.input)` `monoRight.out.link(xoutRight.input)` `# Connect to device and start pipeline` `with dai.Device(pipeline) as device:` ` # Output queues for disparity, left, and right frames` ` qDisparity = device.getOutputQueue(name="disparity", maxSize=4, blocking=False)` ` qLeft = device.getOutputQueue(name="left", maxSize=4, blocking=False)` ` qRight = device.getOutputQueue(name="right", maxSize=4, blocking=False)` ` while True:` ` inDisparity = qDisparity.get() # blocking call, will wait until a new data has arrived` ` disparityFrame = inDisparity.getFrame()` ` # Normalization for better visualization of disparity` ` disparityFrame = (disparityFrame * (255 / depth.initialConfig.getMaxDisparity())).astype(np.uint8)` ` ` ` # Applying color map to disparity` ` disparityColor = cv2.applyColorMap(disparityFrame, cv2.COLORMAP_JET)` ` # Retrieve left and right camera frames` ` inLeft = qLeft.tryGet()` ` inRight = qRight.tryGet()` ` if inLeft:` ` leftFrame = inLeft.getCvFrame()` ` cv2.imshow("left", leftFrame)` ` if inRight:` ` rightFrame = inRight.getCvFrame()` ` cv2.imshow("right", rightFrame)` ` cv2.imshow("disparity", disparityFrame)` ` cv2.imshow("disparity_color", disparityColor)` ` if cv2.waitKey(1) == ord('q'):` ` break` Here are the OAK calibration images, the OAK-FCC-3P json file, and the stereo_test.py file. Let me know if there's any issues accessing. [Dropbox to images](https://www.dropbox.com/scl/fo/98h1krwo4kcws3ru2qake/h?rlkey=hfy7u3e7o2vm2s3qt0e0u6zzp&dl=0)

Also thanks for the fast responses. I am on a field trip a bit of the coast of Australia, so the timezones, and internet access are a bit wacky. We're going to try use the stereo, and just bag the raw mono output from the OAK so we can at least get some data. Hopefully can fix the depth data output after the mission.

Hi @"robomick"#2174 Thanks, we'll get back to you on that.

@"jakaskerl"#p17441 Just checking in to see if you are getting similar results when calibrating, or if I am not following the guide correctly, or have a faulty board? Not sure if I should continue down this path?

Hi @"robomick"#2174 We are still trying to repro the issue, this time with your exact setup and calibration. So far no luck, but I highly doubt you have a faulty board. Does pointing a device at a textured object improve the fill rate and accuracy? Thanks, Jaka

Hi @"robomick"#2174 Looks like you are using 9782 which is a **color** camera. Please make the calibration json accordingly. Thanks, Jaka

OAK-FFC-3P Calibration not great

jakaskerl

Hi @robomick
Go to luxonis/depthaitree/develop develop branch, pull the changes (recursively). Then manually
set the sensor names in the .json file:

{
    "board_config":
    {
        "name": "Custom FFC",
        "revision": "R1M0E1",
        "cameras":{
            "CAM_A": {
                "model": "OV9782",
                "name": "right",
                "hfov": 71.86,
                "type": "color",
                "extrinsics": {
                    "to_cam": "CAM_D",
                    "specTranslation": {
                        "x": 10.95,
                        "y": 0,
                        "z": 0
                    },
                    "rotation":{
                        "r": 0,
                        "p": 0,
                        "y": 0
                    }
                }
            },
            "CAM_D": {
                "model": "OV9782",
                "name": "left",
                "hfov": 71.86,
                "type": "color"
            }
                

        },
        "stereo_config":{
            "left_cam": "CAM_D",
            "right_cam": "CAM_A"
        }
    }
}

Then retry the calibration.

Thanks,
Jaka

robomick

jakaskerl

cd depthai/

git fetch --all

git checkout develop

git submodule update --init --recursive

No love with the python3 -m depthai_viewer, but then tried it with the depth_preview.py and it's working great!

depthai-python/examples/StereoDepth$ python3 depth_preview.py

Woohoo! Thanks Jaka! This is useable!

jakaskerl

robomick
Viewer should be fixed on Monday as well.

robomick

jakaskerl
This IMX577 seems to be in a similar situation too if you are updating the calibration files and documentation.

Got it running though by adding the model name to the json file and the sensor name to the calibrate.py file on the development branch. Done for the day, but will try doing the full calibration tomorrow. Hope it works!

Few things that are strange.
1. The left camera is in the middle, and the right is on the left.
2. The text for the charuco board is super tiny for the IMX577 on the right?

jakaskerl

Hi @robomick
That is strange, what setup are you using?

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