Get calibration data from Stereo IR170

jvin 2021-10-19 21:03:08 UTC #1

Hello,
I would need to get leap calibration data from Stereo IR170. With LMC there was possibility to use leapuvc.retrieveLeapCalibration, however this procedure does not work with Stereo IR170. Is there please any way how to get this data?

With LMC via leapuvc we had access to:

# Convert the Raw Bytes into Raw Values
# Sig, Sig, Ver, Score, Timestamp, Baseline, Q2Init
# Left:  FocalLength, Offset^2, Tangential^2, Radial^6
# Left:  FocalLength, x0, y0, CayleyRotation^3
# Right: FocalLength, Offset^2, Tangential^2, Radial^6
# Right: FocalLength, x0, y0, CayleyRotation^3
# Checksum
# 'B B B B I ff fffffffffff ffffff fffffffffff ffffff I'

Regards,
JVin

dankirby 2021-10-27 11:57:42 UTC #3

Hi @jvin, currently it is not possible to get the Stereo IR 170 calibration data, please can you let me know a bit more about your project or use case and what you are looking to do with this information? If you do not wish to share this on the forum please feel free to contact me via support@ultraleap.com.

jvin 2021-10-27 12:31:30 UTC #4

Hi, I'm working on a calibration procedure for the Project North Star which would align all integrated sensors (i.e. would give you relative translations and rotation between LMC, T265, V1 stereo cam, etc.). I was first preferring the leapuvc way because you can get higher resolution frames there.
Since this does not work with Rigel as a workaround I started to use Unity SDK but I can access only frames with half width and height there. There used to be option to switch between different tracking modes (precision, balanced, performance) to change frame size and fps but this does not seem to be accessible for quiet some time.
Basically what I need is to calculate 3D position (camera space) of a feature in a image which I currently achieve using rays from either PixelToRectilinear(Unity) call or cv2.undistortPoints(python&leapuvc) and then doing the triangulation.

jvin 2021-11-09 11:16:03 UTC #6

Raw calibration data can be found in tracker_log.txt

This log can be located by clicking on Show Software Log button. In my case: C:\ProgramData\Ultraleap\HandTracker\Logs