Hey erik, I'll have a look and see if I can reproduce it consistently and put together all the config files and whatnot that I have so far.
Thanks DanielCalaver, each time with the 160/90/160 lens combo I got the epipolar errors, ignoring the error_text to see what should happen next seemed like a good idea and I think you said that the errors meant that the performance wouldn't be great but that it should still work with errors like that? With it ignored I got the message saying that upload had completed followed by "done" so I think it may be worth changing that to "done with errors" in cases where it doesn't work? It may help customers with troubleshooting for sure.
Could I ask what the maximum FOV of lenses you've tested with for stereo cameras please? I had a look at the Pro W and it seems that they have a HFOV of 120 so my lenses shouldn't be that far out from this setup. The calculated HFOV I got was 122.91 and with the centre camera having a HFOV of 90 I think that's really close to what you have on the W too?
Another thing I'd like to confirm is that I haven't messed up my board config. I'm more confident now of the HFOV values but the specTranslation bit I'm not certain of. I based the positive and negative values off the other board definitions in the depthai repo, I assume that the translation values are relative to the to_cam reference? So in my config the left camera is 8cm to the left of the right, and the right camera is 4cm to the right of the RGB cam.
{
"board_config":
{
"name": "FFC-3P",
"revision": "R1M0E1",
"cameras":{
"CAM_A": {
"name": "rgb",
"hfov": 90,
"type": "color"
},
"CAM_B": {
"name": "left",
"hfov": 122.91,
"type": "color",
"extrinsics": {
"to_cam": "CAM_C",
"specTranslation": {
"x": -8,
"y": 0,
"z": 0
},
"rotation":{
"r": 0,
"p": 0,
"y": 0
}
}
},
"CAM_C": {
"name": "right",
"hfov": 122.91,
"type": "color",
"extrinsics": {
"to_cam": "CAM_A",
"specTranslation": {
"x": 4,
"y": 0,
"z": 0
},
"rotation":{
"r": 0,
"p": 0,
"y": 0
}
}
}
},
"stereo_config":{
"left_cam": "CAM_B",
"right_cam": "CAM_C"
}
}
}
I was playing around with a few things last night so I'll get it back in to the same state and see what results I get from the depth checking scripts. I do have three colour cameras though so I'll go through and update the scripts for that first. I'll get the firmware updated too for the IMU, thanks for links for those.