# Calibration Load This example shows how to load and use calibration data of version6 (gen2 calibration data) in a pipeline. ### Similar samples: * [Calibration Flash v5](https://docs.luxonis.com/software/depthai/examples/calibration_flash_v5.md) * [Calibration Flash](https://docs.luxonis.com/software/depthai/examples/calibration_flash.md) * [Calibration Reader](https://docs.luxonis.com/software/depthai/examples/calibration_reader.md) ## Setup Please run the [install script](https://github.com/luxonis/depthai-python/blob/main/examples/install_requirements.py) to download all required dependencies. Please note that this script must be ran from git context, so you have to download the [depthai-python](https://github.com/luxonis/depthai-python) repository first and then run the script ```bash git clone https://github.com/luxonis/depthai-python.git cd depthai-python/examples python3 install_requirements.py ``` For additional information, please follow the [installation guide](https://docs.luxonis.com/software/depthai/manual-install.md). ## Source code #### Python ```python #!/usr/bin/env python3 from pathlib import Path import cv2 import depthai as dai import argparse import numpy as np import cv2 calibJsonFile = str((Path(__file__).parent / Path('../models/depthai_calib.json')).resolve().absolute()) parser = argparse.ArgumentParser() parser.add_argument('calibJsonFile', nargs='?', help="Path to calibration file in json", default=calibJsonFile) args = parser.parse_args() calibData = dai.CalibrationHandler(args.calibJsonFile) # Create pipeline pipeline = dai.Pipeline() pipeline.setCalibrationData(calibData) # Define sources and output monoLeft = pipeline.create(dai.node.MonoCamera) monoRight = pipeline.create(dai.node.MonoCamera) stereo = pipeline.create(dai.node.StereoDepth) xoutDepth = pipeline.create(dai.node.XLinkOut) xoutDepth.setStreamName("depth") # MonoCamera monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P) monoLeft.setCamera("left") # monoLeft.setFps(5.0) monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P) monoRight.setCamera("right") # monoRight.setFps(5.0) # Linking monoLeft.out.link(stereo.left) monoRight.out.link(stereo.right) stereo.depth.link(xoutDepth.input) # Connect to device and start pipeline with dai.Device(pipeline) as device: depthQueue = device.getOutputQueue(name="depth", maxSize=4, blocking=False) while True: # blocking call, will wait until a new data has arrived inDepth = depthQueue.get() frame = inDepth.getFrame() # frame is ready to be shown cv2.imshow("depth", frame) if cv2.waitKey(1) == ord('q'): break ``` #### C++ ```cpp #include #include #include // Includes common necessary includes for development using depthai library #include "depthai-shared/common/CameraBoardSocket.hpp" #include "depthai-shared/common/EepromData.hpp" #include "depthai/depthai.hpp" int main(int argc, char** argv) { std::string calibJsonFile(CALIB_PATH); if(argc > 1) { calibJsonFile = std::string(argv[1]); } dai::CalibrationHandler calibData(calibJsonFile); // Create pipeline dai::Pipeline pipeline; pipeline.setCalibrationData(calibData); // Define sources and output auto monoLeft = pipeline.create(); auto monoRight = pipeline.create(); auto stereo = pipeline.create(); auto xoutDepth = pipeline.create(); xoutDepth->setStreamName("depth"); // MonoCamera monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_720_P); monoLeft->setCamera("left"); // monoLeft->setFps(5.0); monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_720_P); monoRight->setCamera("right"); // monoRight->setFps(5.0); // Linking monoLeft->out.link(stereo->left); monoRight->out.link(stereo->right); stereo->depth.link(xoutDepth->input); // Connect to device and start pipeline dai::Device device(pipeline); auto depthQueue = device.getOutputQueue("depth", 4, false); while(true) { // blocking call, will wait until a new data has arrived auto inDepth = depthQueue->get(); cv::Mat frame = cv::Mat(inDepth->getHeight(), inDepth->getWidth(), CV_16UC1, inDepth->getData().data()); // frame is ready to be shown cv::imshow("depth", frame); int key = cv::waitKey(1); if(key == 'q') { return 0; } } return 0; } ``` ## Pipeline ### examples/calibration_load.pipeline.json ```json { "pipeline": { "connections": [ { "node1Id": 0, "node1Output": "out", "node1OutputGroup": "", "node2Id": 2, "node2Input": "left", "node2InputGroup": "" }, { "node1Id": 1, "node1Output": "out", "node1OutputGroup": "", "node2Id": 2, "node2Input": "right", "node2InputGroup": "" }, { "node1Id": 2, "node1Output": "depth", "node1OutputGroup": "", "node2Id": 3, "node2Input": "in", "node2InputGroup": "" } ], "globalProperties": { "calibData": { "batchName": "", "batchTime": 0, "boardConf": "", "boardCustom": "", "boardName": "BW1098OBC", "boardOptions": 0, "boardRev": "R0M0E0", "cameraData": [ [ 0, { "cameraType": 0, "distortionCoeff": [ 2.0784969329833984, -33.34458541870117, 0.0007293328526429832, -0.0005520779523067176, 172.79798889160156, 1.7424308061599731, -30.984619140625, 166.90390014648438, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "extrinsics": { "rotationMatrix": [], "specTranslation": { "x": 0.0, "y": 0.0, "z": 0.0 }, "toCameraSocket": -1, "translation": { "x": 0.0, "y": 0.0, "z": 0.0 } }, "height": 1080, "intrinsicMatrix": [ [ 1460.6644287109375, 0.0, 959.00146484375 ], [ 0.0, 1458.81640625, 531.42138671875 ], [ 0.0, 0.0, 1.0 ] ], "lensPosition": 135, "specHfovDeg": 68.7938003540039, "width": 1920 } ], [ 2, { "cameraType": 0, "distortionCoeff": [ 10.010363578796387, 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"rectifyEdgeFillColor": 0, "useHomographyRectification": null, "width": null } } ], [ 3, { "id": 3, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 25, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "depth" } } ] ] } } ``` ### Need assistance? 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