Bug in undistortion example

richardrl

https://docs.luxonis.com/software/perception/rgb-d

I tried the CV2 undistortion script.

pipeline = dai.Pipeline()

device = dai.Device()

This section fails, we can only call one of the lines.

If we call both, it says:
RuntimeError: Failed to connect to device, error message: X_LINK_DEVICE_ALREADY_IN_USE

richardrl

I made it past this issue my using depthai v2… using oak1w, I guess its not supported in latest depthv3

OskarSonc

Hey richardrl

You’re seeing that because the page you followed is for depthai v2 while you use v3. In v3, pipeline.start() already opens the device; adding dai.Device() creates a second connection → X_LINK_DEVICE_ALREADY_IN_USE.
Also, OAK-1 W works on v3.

I would suggest you look at this page which is for v3 or run dethai v2 like you did:
https://docs.luxonis.com/software-v3/depthai/examples/rgbd/rgbd/

Thanks
Oskar

richardrl

@OskarSonc I guess ultimately, my goal is to rectify the image and retrieve the corresponding pinhole camera intrinsics / extrinsics such that I can project 3D objects onto my 2D image. I don't see any examples for doing that, could you share if you have one?

OskarSonc

@richardrl I don’t think we have an example that does exactly what you described in one script. But you can combine pieces from other samples — calibration, undistortion, RGBD — to get there.

You can check out some more examples here:
https://github.com/luxonis/oak-examples

Best,
Oskar

richardrl

@OskarSonc The problem is none of camera transformations (i.e. camRgb.setCalibrationAlpha) are open source, and there is no function to get the intrinsics after settings are changed, i.e. the alpha is changed. Can you advise on how to get the intrinsics after transformations