Hi, I am using the OAK-D Pro W PoE.

I have recently performed the intrinsics calibration using the calibrate.py script. The calibration was "successful" and automatically flashed to the Oak's EEPROM. However, there is still noticeable distortion in the image, and the new distortion coefficients are very different from the pre-calibration values (i.e. the factory calibration). This makes me wonder whether my values are correct. Below I have provided the intrinsics and distortion coefficients from the synced_right stereo camera, and I was hoping if someone could tell me whether these values look roughly like what you would expect.

These values are taken from ROS2's CameraInfo message:

distortion_model: rational_polynomial

d:

- 2.1668901443481445

- 0.060823407024145126

- 0.0002548408810980618

- -0.0002648617373779416

- -0.031189916655421257

- 2.529113292694092

- 0.6403809189796448

- -0.08957222104072571

k:

- 575.4974975585938

- 0.0

- 645.4959716796875

- 0.0

- 575.623046875

- 376.11669921875

- 0.0

- 1.0

For the sake of comparison, below I have included the values from before I performed the intrinsic calibration. As you can see, the distortion coefficients are very different.

distortion_model: rational_polynomial

d:

- 6.661192417144775

- 2.013073205947876

- -0.00017646803462412208

- -2.3972261260496452e-05

- 0.035011935979127884

- 7.052441120147705

- 4.067800521850586

- 0.28086593747138977

k:

- 575.0081787109375

- 0.0

- 644.4645385742188

- 0.0

- 574.729736328125

- 378.305419921875

- 0.0

- 1.0

Thanks!