Calibration error

JamesYeh

Here are 3 up-to-date scanned images and cardboard image. I tried many times and it still showed EEprom Write failed message. I'm wondering if this is due to hardware setting issues instead of calibration procedure. I used the command in the following for OAK_D Lite and the square size is 2.45 cm. Thanks!
python calibrate.py -s 2.45 -brd OAK-D-LITE -db

DanielCalaver

JamesYeh

Might be the quality of the calibration board (as you glued it to the carton board, some dents may have formed, it's also very glossy), can you try to calibrate using a monitor to show the Calib board? Or to print a better board?

DanielCalaver

@JamesYeh what version of depthai you have installed? Do you have other depthai devices, and if so, do you see the same calibration error for them?

JamesYeh

It's the latest version we downloaded from your website recently.

PetrNovota

JamesYeh in the depthai/resources/ there should be export of the calibration file called <your_cam_mxid.json>. Can you find it and share it with us?

JamesYeh

Is this one?

{
"board_config":
{
"name": "OAK-D-LITE",
"revision": "R0M0E0",
"left_fov_deg": 72.9,
"rgb_fov_deg": 68.7938,
"left_to_right_distance_cm": 7.5,
"left_to_rgb_distance_cm": 3.75
}
}

JamesYeh

Or this one?

{
    "batchName": "",
    "batchTime": 0,
    "boardConf": "",
    "boardCustom": "",
    "boardName": "OAK-D-LITE",
    "boardOptions": 0,
    "boardRev": "R0M0E0",
    "cameraData": [
        [
            1,
            {
                "cameraType": 0,
                "distortionCoeff": [
                    72.98009490966797,
                    522.8361206054688,
                    0.002551776124164462,
                    -0.0023029004223644733,
                    -295.53253173828125,
                    73.34515380859375,
                    515.9074096679688,
                    -263.6693115234375,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "extrinsics": {
                    "rotationMatrix": [
                        [
                            0.999978244304657,
                            -0.004396865144371986,
                            -0.004916712641716003
                        ],
                        [
                            0.004408243577927351,
                            0.9999876022338867,
                            0.002305838745087385
                        ],
                        [
                            0.004906513262540102,
                            -0.0023274626582860947,
                            0.9999852776527405
                        ]
                    ],
                    "specTranslation": {
                        "x": -7.5,
                        "y": 0.0,
                        "z": 0.0
                    },
                    "toCameraSocket": 2,
                    "translation": {
                        "x": -7.507689476013184,
                        "y": -0.0775049552321434,
                        "z": -0.2214062213897705
                    }
                },
                "height": 480,
                "intrinsicMatrix": [
                    [
                        457.5869140625,
                        0.0,
                        326.1402282714844
                    ],
                    [
                        0.0,
                        458.2024841308594,
                        228.6510009765625
                    ],
                    [
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "lensPosition": 0,
                "specHfovDeg": 72.9000015258789,
                "width": 640
            }
        ],
        [
            2,
            {
                "cameraType": 0,
                "distortionCoeff": [
                    17.46405601501465,
                    -150.1464385986328,
                    -0.0016553334426134825,
                    0.00011951004853472114,
                    273.1391906738281,
                    17.549184799194336,
                    -150.72332763671875,
                    274.1268005371094,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "extrinsics": {
                    "rotationMatrix": [
                        [
                            0.9999249577522278,
                            0.008298547938466072,
                            -0.009012527763843536
                        ],
                        [
                            -0.008360672742128372,
                            0.9999414086341858,
                            -0.00687749870121479
                        ],
                        [
                            0.008954926393926144,
                            0.006952333729714155,
                            0.9999357461929321
                        ]
                    ],
                    "specTranslation": {
                        "x": 3.75,
                        "y": 0.0,
                        "z": 0.0
                    },
                    "toCameraSocket": 0,
                    "translation": {
                        "x": 3.6784276962280273,
                        "y": -0.0021816904190927744,
                        "z": -0.033592239022254944
                    }
                },
                "height": 480,
                "intrinsicMatrix": [
                    [
                        453.6978454589844,
                        0.0,
                        305.2757873535156
                    ],
                    [
                        0.0,
                        454.0751037597656,
                        235.96502685546875
                    ],
                    [
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "lensPosition": 0,
                "specHfovDeg": 72.9000015258789,
                "width": 640
            }
        ],
        [
            0,
            {
                "cameraType": 0,
                "distortionCoeff": [
                    75.20023345947266,
                    -32.183929443359375,
                    0.00032048311550170183,
                    0.0047751059755682945,
                    243.44769287109375,
                    75.53861999511719,
                    -41.4549560546875,
                    256.639404296875,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "extrinsics": {
                    "rotationMatrix": [],
                    "specTranslation": {
                        "x": 0.0,
                        "y": 0.0,
                        "z": 0.0
                    },
                    "toCameraSocket": -1,
                    "translation": {
                        "x": 0.0,
                        "y": 0.0,
                        "z": 0.0
                    }
                },
                "height": 1080,
                "intrinsicMatrix": [
                    [
                        1493.9559326171875,
                        0.0,
                        1033.2745361328125
                    ],
                    [
                        0.0,
                        1490.411865234375,
                        514.8790893554688
                    ],
                    [
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "lensPosition": 135,
                "specHfovDeg": 68.7938003540039,
                "width": 1920
            }
        ]
    ],
    "hardwareConf": "",
    "imuExtrinsics": {
        "rotationMatrix": [],
        "specTranslation": {
            "x": 0.0,
            "y": 0.0,
            "z": 0.0
        },
        "toCameraSocket": -1,
        "translation": {
            "x": 0.0,
            "y": 0.0,
            "z": 0.0
        }
    },
    "miscellaneousData": [],
    "productName": "",
    "stereoRectificationData": {
        "leftCameraSocket": 1,
        "rectifiedRotationLeft": [
            [
                0.9996805787086487,
                0.005854921415448189,
                0.02458525262773037
            ],
            [
                -0.005882907193154097,
                0.9999821186065674,
                0.0010661549167707562
            ],
            [
                -0.02457856945693493,
                -0.0012104471679776907,
                0.9996971487998962
            ]
        ],
        "rectifiedRotationRight": [
            [
                0.9995121955871582,
                0.010318374261260033,
                0.029476208612322807
            ],
            [
                -0.010284807533025742,
                0.9999462962150574,
                -0.0012901463778689504
            ],
            [
                -0.029487937688827515,
                0.000986359897069633,
                0.9995646476745605
            ]
        ],
        "rightCameraSocket": 2
    },
    "version": 7
}

PetrNovota

JamesYeh Thank you, the second one is the right one. The first one is the initial config needed to start calibration, the second one is the full config generated by the calibration.
We are working on that. I will get back to you as soon as we resolve it.

luxonis-Sachin

JamesYeh Which branch was used for calibration ?

JamesYeh

What do you mean by branch? USB 3.2 or Thunderbolt 4 port? We tried both. We also tried with and without your Y adapter.

PetrNovota

JamesYeh open terminal, navigate to depthai folder and type git branch, you should see similar output to the one on the picture. The row with * is the branch name we are looking for

JamesYeh

This is what I saw... Lite_calibration.

PetrNovota

@"JamesYeh" I would like you to try one little experiment.
in your depthai/ folder, locate the calibrate.py file. open it with any text editor or an IDE like Pycharm.
On lines 611-614
you can locate this code:

if self.args.factoryCalibration:
    self.device.flashFactoryCalibration(calibration_handler)
is_write_succesful = self.device.flashCalibration(calibration_handler)

change it to

if self.args.factoryCalibration:
    self.device.flashFactoryCalibration(calibration_handler)
is_write_succesful = self.device.flashCalibration2(calibration_handler)

The change is int the self.device.flashCalibration2

It can happen that this code piece is not on above mentioned lines, it depends on the depthai branch. Either way yor calibrate.py file should contain those lines so you can find them.

When it is done, run the calibration again, the same way as before. Now, it should end with en Error printed out in the terminal. Send us the error please.

JamesYeh

It's interesting that I don't see the codes you sent me. Here is what I installed for the calibration process in your website https://docs.luxonis.com/en/latest/pages/calibration/. Where did you get the calibrate.py?

git clone https://github.com/luxonis/depthai.git
cd depthai
git checkout lite_calibration

PetrNovota

JamesYeh in the branch lite_calibration that you are using it is in
depthai/calibrate.py
in there, lines 570-576 change them from:

try:
    is_write_succesful = self.device.flashCalibration(calibration_handler)
except:
    print("Writing in except...")
    is_write_succesful = self.device.flashCalibration(calibration_handler)

self.device.flashCalibration2(calibration_handler)

so it will now look like this:

...
...
calib_dest_path = dest_path + '/' + mx_serial_id + '.json'
calibration_handler.eepromToJsonFile(calib_dest_path)
is_write_succesful = False

is_write_succesful = self.device.flashCalibration2(calibration_handler)
if is_write_succesful:
    resImage = create_blank(900, 512, rgb_color=green)
    ...
    ...
    ...

and run calibration again, you should get an Error, send it to us

JamesYeh

Here are the codes at the end of the calibrate.py

resImage = None
if not self.device.isClosed():
dev_info = self.device.getDeviceInfo()
mx_serial_id = dev_info.getMxId()
calib_dest_path = dest_path + '/' + mx_serial_id + '.json'
calibration_handler.eepromToJsonFile(calib_dest_path)
is_write_succesful = False

            try:
                is_write_succesful = self.device.flashCalibration(
                    calibration_handler)
            except:
                print("Writing in except...")
                is_write_succesful = self.device.flashCalibration(
                    calibration_handler)
            if is_write_succesful:
                resImage = create_blank(900, 512, rgb_color=green)
                text = "Calibration Succesful with"
                cv2.putText(resImage, text, (10, 250),
                            font, 2, (0, 0, 0), 2)
                text = "Epipolar error of " + str(epiploar_error)
                cv2.putText(resImage, text, (10, 300),
                            font, 2, (0, 0, 0), 2)
            else:
                resImage = create_blank(900, 512, rgb_color=red)
                text = "EEprom Write Failed!! " + str(epiploar_error)
                cv2.putText(resImage, text, (10, 250),
                            font, 2, (0, 0, 0), 2)
                text = "Try recalibrating !!"
                cv2.putText(resImage, text, (10, 300),
                            font, 2, (0, 0, 0), 2)
        else:
            calib_dest_path = dest_path + '/depthai_calib.json'
            # calibration_handler.eepromToJsonFile(calib_dest_path)
            resImage = create_blank(900, 512, rgb_color=red)
            text = "Calibratin succesful. " + str(epiploar_error)
            cv2.putText(resImage, text, (10, 250), font, 2, (0, 0, 0), 2)
            # text = "Device not found to write to EEPROM"
            # cv2.putText(resImage, text, (10, 300), font, 2, (0, 0, 0), 2)

        if resImage is not None:
            cv2.imshow("Result Image", resImage)
            cv2.waitKey(0)
    except AssertionError as e:
        print("[ERROR] " + str(e))
        raise SystemExit(1)

def run(self):
    if 'capture' in self.args.mode:
        try:
            if Path('dataset').exists():
                shutil.rmtree('dataset/')
            Path("dataset/left").mkdir(parents=True, exist_ok=True)
            Path("dataset/right").mkdir(parents=True, exist_ok=True)
            if not self.args.disableRgb:
                Path("dataset/rgb").mkdir(parents=True, exist_ok=True)
        except OSError:
            traceback.print_exc()
            print("An error occurred trying to create image dataset directories!")
            raise SystemExit(1)
        self.show_info_frame()
        self.capture_images()
    self.dataset_path = str(Path("dataset").absolute())
    if 'process' in self.args.mode:
        self.calibrate()
    print('py: DONE.')

if name == "main":
Main().run()

JamesYeh

I changed the calibrate.py and ran it again. It is still the same. See the screen shots...

PetrNovota

JamesYeh thank you, good job. Now, I want to ask you to do one more thing (consists of two sub tasks 🙂).

With editor of your choice create a new file called get_calibration.py and save it to your depthai folder, so it will look like this: dephtai/get_calibration.py
The content of the get_calibration.py file is:

import depthai as dai

with dai.Device() as device:
    print(device.readCalibration2().eepromToJson())

and in depthai folder run python get_calibration.py
This will print the current device calibration in your terminal. Please copy it and send it to us.

Second task is the same one you have done before. In depthai/resources there is your <device_mx_id(long number).json> file. Please send its contents to us as well.

Thank you for your patience.
Best regards
Petr

JamesYeh

Ok will try it. And, is it possible to run the test again with the sames images in Dataset folder under depthai folder? It would be more consistent for this debug with the same image set. Thanks!

JamesYeh

here is the .json text file.

{
"batchName": "",
"batchTime": 0,
"boardConf": "",
"boardCustom": "",
"boardName": "OAK-D-LITE",
"boardOptions": 0,
"boardRev": "R0M0E0",
"cameraData": [
[
1,
{
"cameraType": 0,
"distortionCoeff": [
-28.19111442565918,
319.1015625,
0.0021235786844044924,
-0.00796385295689106,
-973.7730712890625,
-28.19227409362793,
319.0585021972656,
-973.5380249023438,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"extrinsics": {
"rotationMatrix": [
[
0.9998503923416138,
-0.0063782683573663235,
-0.016076868399977684
],
[
0.0063193743117153645,
0.9999731183052063,
-0.003711411962285638
],
[
0.01610010862350464,
0.003609261242672801,
0.999863862991333
]
],
"specTranslation": {
"x": -7.5,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": 2,
"translation": {
"x": -7.544513702392578,
"y": -0.06922637671232224,
"z": -0.03127232566475868
}
},
"height": 480,
"intrinsicMatrix": [
[
455.9234619140625,
0.0,
319.5633239746094
],
[
0.0,
456.3455505371094,
230.58319091796875
],
[
0.0,
0.0,
1.0
]
],
"lensPosition": 0,
"specHfovDeg": 72.9000015258789,
"width": 640
}
],
[
2,
{
"cameraType": 0,
"distortionCoeff": [
21.66294288635254,
-312.0931396484375,
0.0010793297551572323,
-0.0007400921895168722,
906.7825927734375,
21.852170944213867,
-314.07861328125,
912.0392456054688,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"extrinsics": {
"rotationMatrix": [
[
0.9998428821563721,
0.00951849389821291,
-0.014950711280107498
],
[
-0.009514091536402702,
0.9999546408653259,
0.00036551340599544346
],
[
0.014953513629734516,
-0.00022321353026200086,
0.9998881220817566
]
],
"specTranslation": {
"x": 3.75,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": 0,
"translation": {
"x": 3.9650027751922607,
"y": 0.006998621392995119,
"z": -0.5213539600372314
}
},
"height": 480,
"intrinsicMatrix": [
[
455.4236755371094,
0.0,
304.4522399902344
],
[
0.0,
455.9582824707031,
240.3455352783203
],
[
0.0,
0.0,
1.0
]
],
"lensPosition": 0,
"specHfovDeg": 72.9000015258789,
"width": 640
}
],
[
0,
{
"cameraType": 0,
"distortionCoeff": [
30.001792907714844,
-27.810789108276367,
0.0005656384746544063,
0.0028413927648216486,
170.4805908203125,
30.07124900817871,
-31.029281616210938,
174.8137664794922,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"extrinsics": {
"rotationMatrix": [],
"specTranslation": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": -1,
"translation": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"height": 1080,
"intrinsicMatrix": [
[
1493.0745849609375,
0.0,
1028.433837890625
],
[
0.0,
1489.53271484375,
517.1607055664063
],
[
0.0,
0.0,
1.0
]
],
"lensPosition": 135,
"specHfovDeg": 68.7938003540039,
"width": 1920
}
]
],
"hardwareConf": "",
"imuExtrinsics": {
"rotationMatrix": [],
"specTranslation": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": -1,
"translation": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"miscellaneousData": [],
"productName": "",
"stereoRectificationData": {
"leftCameraSocket": 1,
"rectifiedRotationLeft": [
[
0.9999244809150696,
0.0028120274655520916,
-0.011965838260948658
],
[
-0.002833560574799776,
0.9999943971633911,
-0.001782975741662085
],
[
0.01196075789630413,
0.001816747011616826,
0.9999268054962158
]
],
"rectifiedRotationRight": [
[
0.9999493360519409,
0.009175259619951248,
0.00414483156055212
],
[
-0.009182704612612724,
0.9999562501907349,
0.0017808872507885098
],
[
-0.004128310363739729,
-0.0018188577378168702,
0.9999898076057434
]
],
"rightCameraSocket": 2
},
"version": 7
}