We will first talk about the basics of camera geometry and how it can be used for calibrating. Intrinsic parameters deal with the camera’s internal characteristics, such as its focal length, skew, distortion, and image center. Camera Calibration (with Python OpenCV). Camera Calibration in Python with OpenCV. We'll look at how we can determine a monocular camera's camera matrix and distortion coefficients using Python and OpenCV for undistorting . But i don’t know how to use this data to calibrate my cam on my project. Web. conda activate camera-calibration-python # clone the repository and install dependencies git clone https://github. Specifically, we will cover the math behind how a point in 3D gets projected on the image plane. See the Size? That's OpenCV in C++. Many OpenCV functions require both or one of them. OpenCV comes with two methods, we will see both. Web. However Stereo-Calibration build file is not available. git cd Image-formation-and-camera-calibration pip install -r requirements. Stereo Camera Calibration. What are ArUco markers? ArUco markers were originally developed in 2014 []. py script. Computational Photography. Is there any distortion in images taken with it? If so how to correct it? Pose Estimation This is a small section which will help you to create some cool 3D effects with calib module. The remainder of this article will detail how to build a basic motion detection and tracking system for home surveillance using computer vision techniques. Web. import time import cv2. Run ORB-SLAM3. Web. Web. A magnifying glass. Web. For most purposes using tf2_ros will be done using tf2. Is there any distortion in images taken with it? If so how to correct it? Pose Estimation. Let’s learn more about them. getframes display. If someone can provide simple python script it will be of great benefit to me and the opencv-python community. Stereo Camera Calibration. · put the calibration pattern in a clear area. ArUco markers have been used for a while in augmented reality, camera pose estimation, and camera calibration. So, it is utterly important that you understand what this pair of calibration results are, what they are for, and why and where you need them in your code. Web. Reference for below code: obj_points: 3d real world points; img_points: 2d camera pixel points took from the original (not undistorted) image; mtx: intrinsic matrix; dist: distortion coefficients; This is the first try with original (not undistorted. Web. Log In My Account za. To perform camera calibration, we would first need to prepare the ground truth, which is essentially a set of points in the world and their . Mar 21, 2020 · In this post, we will explain what ArUco markers are and how to use them for simple augmented reality tasks using OpenCV. Stereo Camera Calibration. Part 5 of the comprehensive tutorial series on image formation and camera calibration in Python Introduction The fundamental idea of camera calibration is that given a known set of points in the world and their corresponding projections in the image, we’ve to find the camera matrix responsible for the projection transformation. Web. add an argument flags = cv2. We will first talk about the basics of camera geometry and how it can be used for calibrating. Reference for below code: obj_points: 3d real world points; img_points: 2d camera pixel points took from the original (not undistorted) image; mtx: intrinsic matrix; dist: distortion coefficients; This is the first try with original (not undistorted. my collection of calibration codes for opencv. Is there any distortion in images taken with it? If so how to correct it? Pose Estimation This is a small section which will help you to create some cool 3D effects with calib module. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. Assuming your code is OK, you might have a problem with your chessboard. In this Computer Vision and OpenCV Tutorial, We'll talk about Camera Calibration and Geometry. isOpened () == 0 : exit ( - 1 ) # Set the video resolution to HD720 (2560*720) cap. But i don’t know how to use this data to calibrate my cam on my project. 2- The process basically goes like this: To determine coordinate of a pixel in an image, you need to know two (counting only most fundamental ones, currently I exclude distortion parameters) set of parameters. Web. Web. Web. Web. Web. But before that, we can refine the camera matrix based on a free scaling parameter using cv2. Web. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. A magnifying glass. git cd Image-formation-and-camera-calibration pip install -r requirements. pdf and write your calibration file your_camera. Currently OpenCV supports three types of objects for calibration: Classical black-white chessboard Symmetrical circle pattern Asymmetrical circle pattern Basically, you need to take snapshots of these patterns with your camera and let OpenCV find them. mat()) And it gives me: [ [ 3. Previously, we touched on the topics of intrinsic and extrinsic camera parameters, as well as camera calibration to remove lens distortion. A tag already exists with the provided branch name. Web. Web. Python 如何使用相机矩阵消除图像失真？ ,python,linux,opencv,raspberry-pi,camera-calibration,Python,Linux,Opencv,Raspberry Pi,Camera Calibration,这是一个非常棒的地方。 我正试着用我的覆盆子圆周率校准相机，以校正失真。. In this section you will learn different image processing functions inside OpenCV. Many OpenCV functions require both or one of them. A camera, when used as a visual sensor, is an integral part of several domains like robotics, surveillance, space exploration, social media, industrial automation, and even the. Computer Vision overlaps with fields like Image Processing, Photogrammetry, and Pattern Recognition. Extrinsic parameters describe its position and orientation in the world. focuses on calibrating GoPro cameras, any camera can be calibrated with some minor adjustments to the code. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. Currently OpenCV supports three types of objects for calibration: Classical black-white chessboard Symmetrical circle pattern Asymmetrical circle pattern Basically, you need to take snapshots of these patterns with your camera and let OpenCV find them. Jan 23, 2019 · 誇大タイトルです笑。 2019年最初の記事ということで気合い入れたら、結構長くなってしまいました。 この記事では、カメラのキャリブレーションでよく使われるOpenCVのcalibrateCamera関数の原理や実用上のコツを解説します。. In this section you will learn different computational photography techniques like image denoising etc. For that we use the function, cv2. Web. Web. getNode("camera_matrix") print(fn. isOpened () == 0 : exit ( - 1 ) # Set the video resolution to HD720 (2560*720) cap. Web. Mar 21, 2020 · In this post, we will explain what ArUco markers are and how to use them for simple augmented reality tasks using OpenCV. shape[::-1],None,None) Undistortion ¶ We have got what we were trying. If you have Intel Realsense or zed camera, for example, you can skip all the parts because Realsense has auto-calibration and zed is already calibrated as factory-default. fisheye functions (mainly cv2. calibrateCamera(objpoints, imgpoints, gray. Perform Camera Calibration Using OpenCV Print a Chessboard Measure Square Length Take Photos of the Chessboard From Different Distances and Orientations Draw the Corners Write the Python Code for Camera Calibration Output Saving Parameters Using Pickle Real-World Applications Self-Driving Cars. Now we can take an image and undistort it. Creating your first. Refresh the page, check Medium ’s site status, or find something interesting to read. 유병혁 2021. western knife date code. usb industrial cam #!/usr/bin/env python import cv2 import numpy as np import os import glob # Defining the dimensions of checkerboard CHECKERBOARD = (6,9) criteria = (cv2. Web. Step 3: findChessboardCorners() is a method in OpenCV and used to find pixel coordinates (u, v) for each 3D point in. But i don’t know how to use this data to calibrate my cam on my project. Previously, we touched on the topics of intrinsic and extrinsic camera parameters, as well as camera calibration to remove lens distortion. Here are some resources to help you get started with camera calibration:. Here is a short C sample to record you calibration images. calibrateCamera(objpoints, imgpoints, gray. getOptimalNewCameraMatrix (). Web. Please refer to the C++ API or Python API. Web. getframes display. The full single camera calibration code is: import cv2 as cv import glob import numpy as np def calibrate_camera ( images_folder ): images_names = sorted ( glob. OpenCV is a popular Computer Vision library to develop applications built using C++ and C. OpenCV is a popular Computer Vision library to develop applications built using C++ and C. Refresh the page, check Medium ’s site status, or find something. A step by step tutorial for calibrating a camera using OpenCV with code shared in C++ and Python. Web. 00000000e+00 1. Web. Aug 22, 2018 · 单目相机姿态解算（OpenCV Zhang's Calibration and PnP） m0_70487147: 求解pitch，yaw，roll的代码有吗. ret, mtx, dist, rvecs, tvecs = cv2. XDWX: 了解一下优先队列。 一文搞懂C语言回调函数. Run ORB-SLAM3. Calibration Now that we have our object points and image points, we are ready to go for calibration. calibrateCamera (points_3d, points_2d, img_calib_set [0]. The most common way is to perform a checkerboard camera calibration using OpenCV. Python과 OpenCV – 43 : 카메라 보정(Camera Calibration). Web. getNode("camera_matrix") print(fn. Web. Simple test application 1 modified to process a single stream from a USB camera. Using fine patterns is preferable. OpenCv and Camera Calibration on a Raspberry Pi 3 Tiziano Fiorenzani 23K subscribers Subscribe 1. Résidence officielle des rois de France, le château de Versailles et ses jardins comptent parmi les plus illustres monuments du patrimoine mondial et constituent la plus complète réalisation de l’art français du XVIIe siècle. Question: How do I tailor this example code to account for the size of a square on a particular chessboard pattern? My understanding of the camera calibration process is that this information must somehow be used otherwise the. The camera matrix is unique to a specific camera, so once calculated, it can be reused on other images taken by the same camera. May 18, 2018 · OpenCV Contrib是OpenCV的扩展模块，包含了许多最新的以及可能还没有正式发布有待进一步完善的算法，可以理解为是OpenCV的扩展包，Github网页点击查看。 这有点类似于Matlab中的各个可选安装扩展包。 同时在OpenCV 3. set ( cv2. Many OpenCV functions require both or one of them. A step by step tutorial for calibrating a camera using OpenCV with code shared in C++ and Python. You can use code at here. Extrinsic Camera Calibration - 카메라의 위치 및 자세 파악. Web. First, mount the stereo cameras to a solid object (ruler, wood or hard plastic materials, etc. Many OpenCV functions require both or one of them. Data Structures & Algorithms in Python; Explore More Live Courses; For Students. solvePnpRansac () 左画像の再投影誤差のみに基づいて最適化された値を生成し、 cv2. Our code can be found at OpenCV Examples. Jan 08, 2013 · The focal length and optical centers can be used to create a camera matrix, which can be used to remove distortion due to the lenses of a specific camera. It can help to improve the result, guaranteed ;) HYPEREGO (May 8 '0) edit. ret, mtx, dist, rvecs, tvecs = cv. Specifically, we will cover the math behind how a point in 3D gets projected on the image plane. txt Note: This assumes you've anaconda installed. Web. Web. projectPoints cv. Calibrate fisheye lens using OpenCV — part 1 | by Kenneth Jiang | Medium 500 Apologies, but something went wrong on our end. OpenCV AI Kit. 56 。 后来去stackoverflow上查了查，原来. calibrate () and cv2. getOptimalNewCameraMatrix (). For example, for our D435i camera, we would execute:. A calibration example on stereo matching can be found at opencv_source_code/samples/cpp/stereo_match. Refresh the page, check Medium ’s site status, or find something. ) so that the calibration and rectification parameters will work properly. Web. A tag already exists with the provided branch name. Simple test application 1 modified to output visualization stream over RTSP. Web. learn to find these parameters, undistort images etc. - Extrinsic . cv2’ has no attribute ‘MultiTracker_create’”， 在网上查了查，很多博客是说opencv-python 和opencv-contrib-python的安装出错了，但是我检查了我的安装都没有问题（两个版本都是4. usb industrial cam #!/usr/bin/env python import cv2 import numpy as np import os import glob # Defining the dimensions of checkerboard CHECKERBOARD = (6,9) criteria = (cv2. The important input data needed for calibration of the camera is the set of 3D real world points and the corresponding 2D coordinates of these points in the image. usb industrial cam #!/usr/bin/env python import cv2 import numpy as np import os import glob # Defining the dimensions of checkerboard CHECKERBOARD = (6,9) criteria = (cv2. getframes display. I use code like this: import cv2 fs = cv2. But on ubuntu, I use ov534. Web. Web. Camera Calibration in Python with OpenCV Camera calibration is the process of estimating intrinsic and/or extrinsic parameters. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. bat # 单目相机校准Windows脚本 │ ├── stereo. Web. shape [::-1], None, None). Dec 19, 2018 · 最近在做目标追踪时，报错“AttributeError: module ‘cv2. There are two main libraries we'll be using:. Install Necessary Libraries:. getOptimalNewCameraMatrix (). 55099552e+03] [ 0. calibrateCamera (points_3d, points_2d, img_calib_set [0]. I'm trying to estimate my camera position with OpenCV's solvePnp() and Rodrigues() methods. ) so that the calibration and rectification parameters will work properly. Feb 02, 2021 · We can now keep the calibrated camera matrices and pass it to stereo calibration function. Many OpenCV functions require both or one of them. - OpenCV camera calibration - how to conglomerate calibration results from multiple images into one set of calibration parameters? 我第一次在 Python 中使用 OpenCV 执行相机校准。 我之前使用其他视觉软件包执行过相机校准，所以我熟悉这个过程。 到目前为止，我已经按照本教程https://opencv-python-tutroals. 현대 과학, 컴퓨터 공학 너무 사랑해. focuses on calibrating GoPro cameras, any camera can be calibrated with some minor adjustments to the code. Intrinsic parameters deal with the camera’s internal characteristics, such as its focal length, skew, distortion, and image center. The view of a scene is obtained by projecting a scene's 3D point into the image plane using a perspective transformation which forms the corresponding pixel. Here is a working version of Camera Calibration based on the official tutorial. Extrinsic Camera Calibration - 카메라의 위치 및 자세 파악. RTSP output application. Machine Learning. Mengdan Chen Based on the following tutorial: docs. Web. We'll look at how we can determine a monocular camera's camera matrix and distortion coefficients using Python and OpenCV for undistorting . 2 I'm using OpenCV 2. Here is a working version of Camera Calibration based on the official tutorial. Computer Vision overlaps with fields like Image Processing, Photogrammetry, and Pattern Recognition. The function computes a decomposition of a projection matrix into a calibration and a rotation matrix and the position of a camera. Data Structures & Algorithms in Python; Explore More Live Courses; For Students. Refresh the page, check Medium ’s site status, or find something. Computer Vision overlaps with fields like Image Processing, Photogrammetry, and Pattern Recognition. Web. Let's understand epipolar geometry and epipolar constraint. Simple test application 1 modified to output visualization stream over RTSP. Camera calibration is the process of estimating intrinsic and/or extrinsic parameters. Web. Web. Jan 08, 2013 · Camera Calibration and 3D Reconstruction. Web. Step 1: First define real world coordinates of 3D points using known size of checkerboard pattern. shape[::-1],None,None) Undistortion ¶ We have got what we were trying. They can also be useful for troubleshooting electrical/mechanical equipment when it overhe. 아래 코드는 camera calibration을 하기위한 코드입니다. Extrinsic parameters describe its position and orientation in the world. ret, mtx, dist, rvecs, tvecs = cv. You will also understand the significance of various steps. 生命不止，学习不息: 完整的代码在哪里能看到呢. CALIB_USE_LU then it will much faster. 1 and wxpython v4. OpenCV is a vast library that helps in providing various functions for image and video operations. fp; ya. Camera Calibration Using OpenCV and Python There seems to be a lot of confusing on camera calibration in OpenCV, there is an official tutorial on how to calibrate a camera, (Camera Calibration) which doesn't seem to work for many people. Camera Calibration and 3D Reconstruction Detailed Description The functions in this section use a so-called pinhole camera model. It is expressed as a 3x3 matrix:. findChessboardCorners 1 How can I find open-cv camera calibration constant in python , OpenCV Error: Assertion failed (nimages > 0) in cv::calibrateCamera 3 How to calculate OpenCV camera projectionMatrix in python 1 Camera calibration code - OpenCV Error: Assertion failed 2. Python과 OpenCV – 43 : 카메라 보정(Camera Calibration). Web. Dec 19, 2018 · 最近在做目标追踪时，报错“AttributeError: module ‘cv2. Web. shape [::-1], None, None,flags = cv2. jpg), so we will utilize these. Modify one of the provided demos to suit your specific camera model, and build it. calibrateCamera(objpoints, imgpoints, gray. 7 or higher with OpenCV installed Install OpenCV The first thing you need to do is to make sure you have OpenCV installed on your machine. findChessboardCorners 1 How can I find open-cv camera calibration constant in python , OpenCV Error: Assertion failed (nimages > 0) in cv::calibrateCamera 3 How to calculate OpenCV camera projectionMatrix in python 1 Camera calibration code - OpenCV Error: Assertion failed 2. nepalisexvideo
Web. . Opencv camera calibration python
We will first talk about the basics of camera geometry and how. shape[::-1],None,None) Undistortion ¶. This camera support 640×480 up to 60fps and 320×240 resolution up to 187fps. 1 and wxpython v4. western knife date code. cpp; (Python) A camera calibration sample can be . FILE_STORAGE_READ) fn = fs. To calibrate a camera, OpenCV gives us the calibrateCamera() function This takes in Object points, Image points[ will understand these points in a moment ], and the shape of the image and using. Would it be okay to copy parameters from other cameras (like OpenCV source code samples)?. Doing so will remove radial distortion and tangential distortion, both of which impact the output image, and therefore the output measurement of objects in the image. Web. OpenCV library in python is a computer vision library, mostly used for image processing, video processing, and analysis, facial recognition and detection, etc. Web. findChessboardCorners 1 How can I find open-cv camera calibration constant in python , OpenCV Error: Assertion failed (nimages > 0) in cv::calibrateCamera 3 How to calculate OpenCV camera projectionMatrix in python 1 Camera calibration code - OpenCV Error: Assertion failed 2. focuses on calibrating GoPro cameras, any camera can be calibrated with some minor adjustments to the code. Step 2: Different viewpoints of check-board image is captured. Extrinsic parameters describe its position and orientation in the world. add an argument flags = cv2. Computer Vision overlaps with fields like Image Processing, Photogrammetry, and Pattern Recognition. The view of a scene is obtained by projecting a scene's 3D point into the image plane using a perspective transformation which forms the corresponding pixel. Intrinsic parameters deal with the camera’s internal characteristics, such as its focal length, skew, distortion, and image center. Consider an image of a chess board. See this tutorial for details. Web. OpenCV: Basic concepts of the homography explained with code. Computational Photography. Specifically, we will cover the math behind how a point in 3D gets projected on the image plane. The function is based on RQDecomp3x3 (). Sep 22, 2022 · USB camera source application. Web. Camera Calibration using ChArUco and Python calibrateCamera python aruco charuco asked Jul 15 '16 jads_96 6 1 2 6 Hi everyone, I've being looking for Python samples on how to calibrate a camera using the ChArUco methods, which are in the ArUco library inside the opencv_contrib, and have failed to find one. This tool uses the following Python classes, which conveniently hide some of the complexities of using OpenCV's calibration process and chessboard detection . pdf and write your calibration file your_camera. such as: cv2. With OpenCV, we can capture a video from the camera. Starting with opencv 3, the fisheye module was introduced, which manages the calibration for fisheye type lenses quite well. Let's understand epipolar geometry and epipolar constraint. Our code can be found at OpenCV Examples. This tutorialexplains both. We will first talk about the basics of camera geometry and how. Depth Map from Stereo Images. calibrateCamera (objpoints, imgpoints, gray. The first section covers improving distance measurement with camera calibration. Web. Web. Web. Intrinsic & extrinsic calibration of multiple cameras, IMUs, and LiDARs. Web. getOptimalNewCameraMatrix (). Modern photographic cameras are de. Extrinsic parameters describe its position and orientation in the world. In this Computer Vision and OpenCV Tutorial, We'll talk about Stereo Vision Camera Calibration in Python with OpenCV. cv2’ has no attribute ‘MultiTracker_create’”， 在网上查了查，很多博客是说opencv-python 和opencv-contrib-python的安装出错了，但是我检查了我的安装都没有问题（两个版本都是4. Web. Web. To calibrate a camera, OpenCV gives us the calibrateCamera() function This takes in Object points, Image points[ will understand these points in a moment ], and the shape of the image and using. We'll look at how we can determine a monocular camera's camera matrix and distortion coefficients using Python and OpenCV for undistorting . kr/?p=6868 Python과 OpenCV – 38 : 카메라 보정(Camera Calibration) by GIS . Step 2: Different viewpoints of check-board image is captured. Intrinsic parameters deal with the camera’s internal characteristics, such as its focal length, skew, distortion, and image center. It returns the camera matrix, distortion coefficients, rotation and translation vectors etc. The second section discusses stereo vision and depth cameras to . conda create -n camera-calibration-python python3. vv; wo; tl; eh; zb; if. getframes display. So you'll need to install them first, using pip or conda. It can help to improve the result, guaranteed ;) HYPEREGO (May 8 '0) edit. If you have Intel Realsense or zed camera, for example, you can skip all the parts because Realsense has auto-calibration and zed is already calibrated as factory-default. Don't waste your time using complicated tools, use camcalib instead. Part 5 of the comprehensive tutorial series on image formation and camera calibration in Python Introduction The fundamental idea of camera calibration is that given a known set of points in the world and their corresponding projections in the image, we’ve to find the camera matrix responsible for the projection transformation. Apr 22, 2021 · OpenCV—PnP单目测距 使用单目相机结合OpenCV的pnp解算实现单目测距（需要知道物体的长宽） 开始用的opencv 自带的标定api 标定相机，但是标定结果和matlab的结果有出入，可能我没用对吧，后面就用的Matlab 标定工具箱的标定结果，大概误差1 ~2cm吧，毕竟近距离。. Calibrate fisheye lens using OpenCV — part 1 | by Kenneth Jiang | Medium 500 Apologies, but something went wrong on our end. Let's understand epipolar geometry and epipolar constraint. Web. Web. The camera was developed to create a lasting image of a certain scene. Each found pattern results in a new equation. pdf and write your calibration file your_camera. calibrateCamera (points_3d, points_2d, img_calib_set [0]. Connect the camera to your computer using USB3 or the appropriate interface. Extrinsic parameters describe its position and orientation in the world. 98509417e+03] [ 0. Camera Calibration This example demonstrates camera calibration in OpenCV. py, a Python sample that allows to display the extrinsics saved during the camera calibration process (cpp-example-calibration). The need for calibration of the visual. Web. In this Computer Vision and OpenCV Tutorial, We'll talk about Stereo Vision Camera Calibration in Python with OpenCV. They can also be useful for troubleshooting electrical/mechanical equipment when it overhe. Many OpenCV functions require both or one of them. To calibrate our camera and get the coefficients, we are going to use the OpenCV library. Is there any distortion in images taken with it? If so how to correct it? Pose Estimation. Web. Calibration Create a mosaic of input calibration images with mosaic (images, width) Calibrate a camera with: calibrator = CameraCalibration() board = ChessboardFinder( (9,6), 1) cam, cal = calibrator. 2- The process basically goes like this: To determine coordinate of a pixel in an image, you need to know two (counting only most fundamental ones, currently I exclude distortion parameters) set of parameters. Web. It can help to improve the result, guaranteed ;) HYPEREGO (May 8 '0) edit. Web. It lets you create a video capture object which is helpful to capture videos through webcam and then you may perform desired operations on that video. The camera matrix is unique to a specific camera, so once calculated, it can be reused on other images taken by the same camera. Web. We will first talk about the basics of camera geometry and how. calibrateCamera () which returns the camera matrix, distortion coefficients, rotation and translation vectors etc. Extrinsic parameters describe its position and orientation in the world. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. western knife date code. Feb 02, 2021 · We can now keep the calibrated camera matrices and pass it to stereo calibration function. Sep 11, 2017 · Instead, you should go through Practical Python and OpenCV and Deep Learning for Computer Vision with Python which teaches you how to use these functions to solve actual problems. catree force-pushed the add_python_sample_show_extrinsics branch from 17288cd to 59ec224 Compare Dec 20, 2017. These devices allowed users to capture images and project. Apr 22, 2021 · OpenCV—PnP单目测距 使用单目相机结合OpenCV的pnp解算实现单目测距（需要知道物体的长宽） 开始用的opencv 自带的标定api 标定相机，但是标定结果和matlab的结果有出入，可能我没用对吧，后面就用的Matlab 标定工具箱的标定结果，大概误差1 ~2cm吧，毕竟近距离。. vv; wo; tl; eh; zb; if. Simple test application 1 modified to output visualization stream over RTSP. Don't waste your time using complicated tools, use camcalib instead. Web. See the Size? That's OpenCV in C++. 1- No, you print something similar with a chessboard pattern and you use it to calibrate your own camera. Camera Calibration can be done in a step-by-step approach: · Step 1: First define real world coordinates of 3D points using known size of . It provides a high-performance multidimensional array object and tools for working with these arrays. VideoCapture ( 0 ) if cap. Web. Web. . cuck sucks cock, black lesbo tribbing, pornopokmon, women humping a man, kei truck for sale colorado, hypnopimp, wood for sale near me, hire east idaho, oculus bundle, hypnopimp, mpow m30 left earbud not charging, deep throat bbc co8rr