Error while trying to get calibration parameters (Femto Bolt) [SOLVED]

Technical Support & Q&A
1

I am trying to get the factory calibration for the sensor to sensor extrinsic matrices.

Here is my code:

#include <libobsensor/ObSensor.hpp>

int main(int argc, char *argv[]){
    std::shared_ptr<ob::Pipeline> obPipeline;
    try {
        // Create OrbbecSDK pipeline (with default device).
        obPipeline = std::make_shared<ob::Pipeline>();
    } catch(ob::Error &e) {
        std::cerr << "Make sure your Orbbec device is connected!" << std::endl;
        return EXIT_FAILURE;
    }


    OBCalibrationParam calibrationParam = obPipeline->getCalibrationParam(obPipeline->getConfig());
    float *rot = calibrationParam.extrinsics[OB_SENSOR_ACCEL][OB_SENSOR_GYRO].rot;
    float *trans = calibrationParam.extrinsics[OB_SENSOR_ACCEL][OB_SENSOR_GYRO].trans;

    std::vector<float> extrinsicsList;
    extrinsicsList.reserve(12); // Reserve space for 12 elements to avoid reallocations

    // Copy rotation matrix
    std::copy(rot, rot + 9, std::back_inserter(extrinsicsList));
    // Copy translation vector
    std::copy(trans, trans + 3, std::back_inserter(extrinsicsList));

    // Example of printing the combined list
    for(auto val : extrinsicsList) {
        std::cout << val << " ";
    }
    std::cout << std::endl;
}

And here is the error I am getting:

[07/20 16:32:05.359820][warning][49412][Pipeline.cpp:741] Get calibration param failed,support profile info invalid!

Any help would be greatly appreciated!

2

I needed to enable the corresponding streams and start collecting data first. Here is the updated code:

#include <libobsensor/ObSensor.hpp>

int main(int, char*[]) {
    ob::Pipeline obPipeline;

    std::shared_ptr<ob::Config> config = std::make_shared<ob::Config>();
    config->enableVideoStream(OB_STREAM_COLOR);
    config->enableVideoStream(OB_STREAM_DEPTH);
    config->enableAccelStream();

    obPipeline.start(config);

    OBCalibrationParam calibrationParam = obPipeline.getCalibrationParam(obPipeline.getConfig());
    float *rot = calibrationParam.extrinsics[OB_SENSOR_ACCEL][OB_SENSOR_GYRO].rot;
    float *trans = calibrationParam.extrinsics[OB_SENSOR_ACCEL][OB_SENSOR_GYRO].trans;

    std::vector<float> extrinsicsList;
    extrinsicsList.reserve(12); // Reserve space for 12 elements to avoid reallocations

    // Copy rotation matrix
    std::copy(rot, rot + 9, std::back_inserter(extrinsicsList));
    // Copy translation vector
    std::copy(trans, trans + 3, std::back_inserter(extrinsicsList));

    // Example of printing the combined list
    for(auto val : extrinsicsList) {
        std::cout << val << " ";
    }
    std::cout << std::endl;
}