# Request for OpenCV calibration YAMLs

Source: https://forum.modalai.com/topic/2220/request-for-opencv-calibration-yamls
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2023-06-02 20:23:05 UTC by Jeremy McCabe
Replies: 7 · Views: 1030

## Jeremy McCabe · 2023-06-02 20:23:05 UTC

Hello,

I saw a video suggesting that copies of the camera calibration files are typically maintained, and may be requested by posting the device's serial number in this forum.

Please let me know specifically where to locate the identifying information on the device if you are able to assist.  I need the files for one device, but would like the files for all three of the devices in my possession if possible.

Devices: (3x) Qualcomm RB5 Flight dev drone. 

Thanks.

## Reply by Jeremy McCabe · 2023-06-05 22:45:31 UTC

Hi @tom, any chance to acquire these camera cal files directly from ModalAI, or should I just proceed with the manual calibration?

## Reply by Chad Sweet (ModalAI staff) · 2023-06-06 00:33:47 UTC

Have you deleted the /data partition on each of the drones? You should be able to find the calibration files there.

## Reply by Jeremy McCabe · 2023-06-06 01:45:10 UTC (in reply to Chad Sweet)

Hi @Chad-Sweet, thanks for the response.  I did not explicitly, but I assumed /data was wiped when flashing the device (since they are supposed to be backed up prior to flashing).  The device in question was stuck in fastboot, so I had no option.  I just realized the other two device's files should still be sitting in /data.

I saw various locations mentioned on this page =https://docs.modalai.com/Qualcomm-Flight-RB5-system-image/  (namely: /etc/modalai, /data/misc, /data/modalai).

Where can I locate the serial number (for the device in question, that was flashed without backup)?

## Reply by tom (ModalAI staff) · 2023-06-06 16:59:17 UTC

@Jeremy-McCabe Yes, I can definitely get those for you. The serial numbers of your drones should be on a small white sticker with a barcode on them, they will be in the form `MXXXXXXXXXX`.
On RB5-Flight, the sticker is likely on the outside of the 3d printed enclosure of the drone.

## Reply by Jeremy McCabe · 2023-06-06 18:53:04 UTC

@tom said in [Request for OpenCV calibration YAMLs](/post/10385):
>  the sticker is likely on the outside of the 3d printed enclosure of the dr

Awesome!  Thanks @tom.  I saw the small white stickers but wasn't sure since there are additional stickers located inside of the enclosure with different values.  The value for the one on the outside of the enclosure is **M2100000CUH**.  I did notice a conflict on the aforementioned page with conflicting file paths for where to drop the files.  Should they all just be dropped in a single directory?

## Reply by tom (ModalAI staff) · 2023-06-06 18:59:47 UTC

@Jeremy-McCabe I will send you an email with the files attached to your address on file with the forum.

All of the files, seen below:
```
~/Dow/M2100000CUH-cam-cal-files  ls                          ok | 11:57:34 AM 
opencv_stereo_extrinsics.yml       opencv_stereo_rear_intrinsics.yml
opencv_stereo_intrinsics.yml       opencv_tracking_intrinsics.yml
opencv_stereo_rear_extrinsics.yml
```
will need to be placed into `/data/modalai`

If you haven't yet, I would recommend updating your RB5-Flight drone to our latest VOXL SDK release (https://developer.modalai.com/asset/view/124) before pushing the files over.

## Reply by Jeremy McCabe · 2023-06-06 19:19:26 UTC (in reply to tom)

@tom Filepath noted, and fortunately we did just update to 0.9.5 SDK.  Files received!  Thank you.