CAM_B and CAM_C sockets stop detecting color cameras after flashing calibration

lincolnxlw

In my use case, I am using the CAM-B and CAM-C sockets in OAK-FFC-3P to connect with color cameras (IMX577) running 1080P. There wasn't any issue with running a simple preview example and let cams = device.getConnectedCameraFeatures() to look for all connected cameras. But after I calibrated the two cameras and flash the json file to the device using this example, the preview code couldn't find any color cameras from CAM-B and CAM-C socket anymore.

Usb speed: SUPER
Connected cameras: []

However, it can still find color camera from socket CAM-A and mono camera form socket CAM-B and CAM-C. Here is the output when I connect an OV9282 to CAM-B and an IMX577 to CAM-A

Usb speed: SUPER
Connected cameras: [{socket: CAM_A, sensorName: IMX577, width: 4056, height: 3040, orientation: AUTO, supportedTypes: [COLOR], hasAutofocus: 0, name: color}, {socket: CAM_B, sensorName: OV9282, width: 1280, height: 800, orientation: AUTO, supportedTypes: [MONO], hasAutofocus: 0, name: left}]
{socket: CAM_A, sensorName: IMX577, width: 4056, height: 3040, orientation: AUTO, supportedTypes: [COLOR], hasAutofocus: 0, name: color} CameraBoardSocket.CAM_A CameraBoardSocket.CAM_A
{socket: CAM_B, sensorName: OV9282, width: 1280, height: 800, orientation: AUTO, supportedTypes: [MONO], hasAutofocus: 0, name: left} CameraBoardSocket.CAM_B CameraBoardSocket.CAM_B

Here is the calibration result I flashed to the device before it stop working.

{
    "batchName": "",
    "batchTime": 0,
    "boardConf": "",
    "boardCustom": "",
    "boardName": "",
    "boardOptions": 0,
    "boardRev": "",
    "cameraData": [
        [
            2,
            {
                "cameraType": 0,
                "distortionCoeff": [
                    -0.5117843151092529,
                    -0.06536504626274109,
                    -5.844790211995132e-05,
                    -0.0005799136124551296,
                    0.025351274758577347,
                    -0.16227206587791443,
                    -0.3164222836494446,
                    0.05816520377993584,
                    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": [
                    [
                        872.6644897460938,
                        0.0,
                        981.9554443359375
                    ],
                    [
                        0.0,
                        869.8309326171875,
                        528.7936401367188
                    ],
                    [
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "lensPosition": 0,
                "specHfovDeg": 140.0,
                "width": 1920
            }
        ],
        [
            1,
            {
                "cameraType": 0,
                "distortionCoeff": [
                    5.590981960296631,
                    -0.8370659947395325,
                    -0.00031772308284416795,
                    -0.0005036363145336509,
                    -0.3884274959564209,
                    5.948943138122559,
                    1.0271347761154175,
                    -1.038749098777771,
                    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": [
                    [
                        870.5143432617188,
                        0.0,
                        982.17822265625
                    ],
                    [
                        0.0,
                        867.4022827148438,
                        517.3909912109375
                    ],
                    [
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "lensPosition": 0,
                "specHfovDeg": 140.0,
                "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": [],
        "rectifiedRotationRight": [],
        "rightCameraSocket": -1
    },
    "version": 7
}

Here is the calibration dump result confirming the calibration data is actually being flashed to the EEPROM

Is EEPROM available: True
User calibration: {
  "batchName": "",
  "batchTime": 0,
  "boardConf": "",
  "boardCustom": "",
  "boardName": "",
  "boardOptions": 0,
  "boardRev": "",
  "cameraData": [
    [
      2,
      {
        "cameraType": 0,
        "distortionCoeff": [
          -0.5117843151092529,
          -0.06536504626274109,
          -5.844790211995132e-05,
          -0.0005799136124551296,
          0.025351274758577347,
          -0.16227206587791443,
          -0.3164222836494446,
          0.05816520377993584,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ],
        "extrinsics": {
          "rotationMatrix": [
            [
              0.0,
              0.0,
              0.0
            ],
            [
              0.0,
              0.0,
              0.0
            ],
            [
              0.0,
              0.0,
              0.0
            ]
          ],
          "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": [
          [
            872.6644897460938,
            0.0,
            981.9554443359375
          ],
          [
            0.0,
            869.8309326171875,
            528.7936401367188
          ],
          [
            0.0,
            0.0,
            1.0
          ]
        ],
        "lensPosition": 0,
        "specHfovDeg": 140.0,
        "width": 1920
      }
    ],
    [
      1,
      {
        "cameraType": 0,
        "distortionCoeff": [
          5.590981960296631,
          -0.8370659947395325,
          -0.00031772308284416795,
          -0.0005036363145336509,
          -0.3884274959564209,
          5.948943138122559,
          1.0271347761154175,
          -1.038749098777771,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ],
        "extrinsics": {
          "rotationMatrix": [
            [
              0.0,
              0.0,
              0.0
            ],
            [
              0.0,
              0.0,
              0.0
            ],
            [
              0.0,
              0.0,
              0.0
            ]
          ],
          "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": [
          [
            870.5143432617188,
            0.0,
            982.17822265625
          ],
          [
            0.0,
            867.4022827148438,
            517.3909912109375
          ],
          [
            0.0,
            0.0,
            1.0
          ]
        ],
        "lensPosition": 0,
        "specHfovDeg": 140.0,
        "width": 1920
      }
    ]
  ],
  "hardwareConf": "",
  "imuExtrinsics": {
    "rotationMatrix": [
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0
      ]
    ],
    "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": 255,
    "rectifiedRotationLeft": [
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0
      ]
    ],
    "rectifiedRotationRight": [
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0
      ]
    ],
    "rightCameraSocket": 255
  },
  "version": 7
}
No factory calibration: No or invalid EEPROM configuration flashed, error: EEPROM_INVALID_DATA
User calibration raw: [7, 0, 170, 85, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 56, 4, 128, 7, 0, 135, 42, 90, 68, 0, 0, 0, 0, 38, 125, 117, 68, 0, 0, 0, 0, 46, 117, 89, 68, 203, 50, 4, 68, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 63, 76, 4, 3, 191, 28, 222, 133, 189, 245, 37, 117, 184, 88, 5, 24, 186, 122, 173, 207, 60, 166, 42, 38, 190, 26, 2, 162, 190, 163, 62, 110, 61, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 12, 67, 0, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 0, 0, 0, 128, 0, 0, 0, 128, 255, 56, 4, 128, 7, 0, 235, 160, 89, 68, 0, 0, 0, 0, 104, 139, 117, 68, 0, 0, 0, 0, 191, 217, 88, 68, 6, 89, 1, 68, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 63, 83, 233, 178, 64, 245, 73, 86, 191, 18, 148, 166, 185, 118, 6, 4, 186, 248, 223, 198, 190, 190, 93, 190, 64, 39, 121, 131, 63, 187, 245, 132, 191, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 12, 67, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 0, 0, 0, 128, 0, 0, 0, 128, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255]
Factory calibration raw: [255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 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255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255]

Where did I do wrong? How to let CAM-B and CAM-C detect color cameras again?

Thanks

Lincoln

jakaskerl

Hi lincolnxlw
I believe the calibration file should have the relationship between the two cameras. Both your cameras have specified translation to "toCameraSocket": -1, which is no camera. This can only be used once (for one camera). For others, you have to set translation and rotation and "toCameraSocket": socket id in relations to some other camera.

Try re-calibrating your device.
https://docs.luxonis.com/projects/hardware/en/latest/pages/guides/calibration/#modular-cameras-calibration

Thanks for a well formatted question 🙂,
Jaka

lincolnxlw

Hi jakaskerl

Got it. I will update the board config and try recalibrating.

Thanks!

Lincoln

lincolnxlw

Hi jakaskerl

So I went through the following processes but still no luck.

First, I modified the board config and added the extrinsics

{
    "board_config":
    {
        "name": "Tennibot OAK FFC 3P",
        "revision": "R0M0E0",
        "cameras":{
            "CAM_B": {
                "name": "station_left_cam",
                "hfov": 140,
                "type": "color",
                "extrinsics": {
                    "to_cam": "CAM_C",
                    "specTranslation": {
                        "x": 3.5,
                        "y": 0,
                        "z": 0
                    },
                    "rotation":{
                        "r": 0,
                        "p": 0,
                        "y": 0
                    }
                }
            },
            "CAM_C": {
                "name": "station_right_cam",
                "hfov": 140,
                "type": "color",
                "extrinsics": {
                    "to_cam": "CAM_B",
                    "specTranslation": {
                        "x": -3.5,
                        "y": 0,
                        "z": 0
                    },
                    "rotation":{
                        "r": 0,
                        "p": 0,
                        "y": 0
                    }
                }
            }
        }
    }
}

Because I still have my dataset saved, I just ran the process

python calibrate.py -ih -s 2.5 -db -brd <camera-definition-file> -m process

But because now we have extrinsics in the config, according to this line, the calibration is looking for stereo_config, which I am not using it because I only uses the board for color cameras. But I added the following anyway just hope the calibration will success

        "stereo_config":{
            "left_cam": "CAM_B",
            "right_cam": "CAM_C"
        }

And it did, the following is the result json file

{
    "batchName": "",
    "batchTime": 0,
    "boardConf": "",
    "boardCustom": "",
    "boardName": "",
    "boardOptions": 0,
    "boardRev": "",
    "cameraData": [
        [
            2,
            {
                "cameraType": 0,
                "distortionCoeff": [
                    -0.5117843151092529,
                    -0.06536504626274109,
                    -5.844790211995132e-05,
                    -0.0005799136124551296,
                    0.025351274758577347,
                    -0.16227206587791443,
                    -0.3164222836494446,
                    0.05816520377993584,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "extrinsics": {
                    "rotationMatrix": [
                        [
                            0.9998506307601929,
                            0.01509548258036375,
                            0.008416909724473953
                        ],
                        [
                            -0.01534199807792902,
                            0.9994310736656189,
                            0.03003622405230999
                        ],
                        [
                            -0.007958710193634033,
                            -0.030160870403051376,
                            0.9995133876800537
                        ]
                    ],
                    "specTranslation": {
                        "x": -3.5,
                        "y": 0.0,
                        "z": 0.0
                    },
                    "toCameraSocket": 1,
                    "translation": {
                        "x": 3.646730661392212,
                        "y": 0.18376091122627258,
                        "z": 0.02605484239757061
                    }
                },
                "height": 1080,
                "intrinsicMatrix": [
                    [
                        872.6644897460938,
                        0.0,
                        981.9554443359375
                    ],
                    [
                        0.0,
                        869.8309326171875,
                        528.7936401367188
                    ],
                    [
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "lensPosition": 0,
                "specHfovDeg": 140.0,
                "width": 1920
            }
        ],
        [
            1,
            {
                "cameraType": 0,
                "distortionCoeff": [
                    5.590981960296631,
                    -0.8370659947395325,
                    -0.00031772308284416795,
                    -0.0005036363145336509,
                    -0.3884274959564209,
                    5.948943138122559,
                    1.0271347761154175,
                    -1.038749098777771,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "extrinsics": {
                    "rotationMatrix": [
                        [
                            0.9998506307601929,
                            -0.01534199807792902,
                            -0.007958710193634033
                        ],
                        [
                            0.01509548258036375,
                            0.9994310736656189,
                            -0.030160870403051376
                        ],
                        [
                            0.008416909724473953,
                            0.03003622405230999,
                            0.9995133876800537
                        ]
                    ],
                    "specTranslation": {
                        "x": 3.5,
                        "y": 0.0,
                        "z": 0.0
                    },
                    "toCameraSocket": 2,
                    "translation": {
                        "x": -3.6431593894958496,
                        "y": -0.23791968822479248,
                        "z": -0.0622558519244194
                    }
                },
                "height": 1080,
                "intrinsicMatrix": [
                    [
                        870.5143432617188,
                        0.0,
                        982.17822265625
                    ],
                    [
                        0.0,
                        867.4022827148438,
                        517.3909912109375
                    ],
                    [
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "lensPosition": 0,
                "specHfovDeg": 140.0,
                "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": [
            [
                0.9987073540687561,
                0.05032545328140259,
                0.007135476917028427
            ],
            [
                -0.05021293833851814,
                0.9986235499382019,
                -0.015156709589064121
            ],
            [
                -0.007888423278927803,
                0.014778824523091316,
                0.9998596906661987
            ]
        ],
        "rectifiedRotationRight": [
            [
                0.9977293014526367,
                0.06515757739543915,
                0.017049621790647507
            ],
            [
                -0.06540568917989731,
                0.9977545142173767,
                0.014422908425331116
            ],
            [
                -0.01607157476246357,
                -0.015505300834774971,
                0.9997506141662598
            ]
        ],
        "rightCameraSocket": 2
    },
    "version": 7
}

The result has all the translation and rotation parameters. Then I flashed it to the device and confirmed the flashing. But getConnectedCameraFeatures still can't find any camera.

Then I thought maybe the board config has to have all sockets defined. So I added CAM-A to the config

{
    "board_config":
    {
        "name": "Tennibot OAK FFC 3P",
        "revision": "R0M0E0",
        "cameras":{
            "CAM_A": {
                "name": "station_middle_cam",
                "hfov": 140,
                "type": "color"
            },
            "CAM_B": {
                "name": "station_left_cam",
                "hfov": 140,
                "type": "color",
                "extrinsics": {
                    "to_cam": "CAM_A",
                    "specTranslation": {
                        "x": 3.5,
                        "y": 0,
                        "z": 0
                    },
                    "rotation":{
                        "r": 0,
                        "p": 0,
                        "y": 0
                    }
                }
            },
            "CAM_C": {
                "name": "station_right_cam",
                "hfov": 140,
                "type": "color",
                "extrinsics": {
                    "to_cam": "CAM_A",
                    "specTranslation": {
                        "x": -3.5,
                        "y": 0,
                        "z": 0
                    },
                    "rotation":{
                        "r": 0,
                        "p": 0,
                        "y": 0
                    }
                }
            }
        },
        "stereo_config":{
            "left_cam": "CAM_B",
            "right_cam": "CAM_C"
        }
    }
}

When I retried the calibration, it gave me error saying missing key for the camera properties like "AutoFocus", "SensorType". It turns out the calibration code is using getConnectedCameraFeatures() to get those information, which I can't use now.

Even though I can manually provide information like "SensorType" in the board config, but eventually the calibration will fail because it couldn't find the cameras from CAM-B and CAM-C sockets to when it run the pipeline.

[{socket: RGB/CENTER/CAM_A, sensorName: IMX577, width: 4056, height: 3040, orientation: AUTO, supportedTypes: [COLOR], hasAutofocus: 0, name: color}]
Cam: station_middle_cam and focus: False
[18443010D1F3F40800] [3.6] [0.985] [ColorCamera(2)] [error] Camera not detected on socket: 1
[18443010D1F3F40800] [3.6] [0.985] [ColorCamera(4)] [error] Camera not detected on socket: 2

What's your suggestion for my next step? Thanks

jakaskerl

Hi lincolnxlw
Take a look at stock board configs (https://github.com/luxonis/depthai-boards/blob/e9dfca0572a264cc93cb556c926e73a2609cdcae/boards/OAK-D-LITE.json). One camera is fixed (has no extrinsics) and the other ones are set relative to it. I have a feeling your calibration might be failing because you are setting both cameras as relative.
Can you confirm this is the case?

Thanks,
Jaka

lincolnxlw

Hi jakaskerl,

In my modified config, CAM-B and CAM-C are relative to CAM-A. But the calibration program won't find any cameras on CAM-B and CAM-C, and I can't just run the process step because previously I didn't connect CAM-A so I don't have the images for that camera. Is there a way to clean the EEPROM user space so I can at least try calibrate again? I tried "factory_reset" script but it doesn't seem to fix it.

{
    "board_config":
    {
        "name": "Tennibot OAK FFC 3P",
        "revision": "R0M0E0",
        "cameras":{
            "CAM_A": {
                "name": "station_middle_cam",
                "hfov": 140,
                "type": "color"
            },
            "CAM_B": {
                "name": "station_left_cam",
                "hfov": 140,
                "type": "color",
                "extrinsics": {
                    "to_cam": "CAM_A",
                    "specTranslation": {
                        "x": 3.5,
                        "y": 0,
                        "z": 0
                    },
                    "rotation":{
                        "r": 0,
                        "p": 0,
                        "y": 0
                    }
                }
            },
            "CAM_C": {
                "name": "station_right_cam",
                "hfov": 140,
                "type": "color",
                "extrinsics": {
                    "to_cam": "CAM_A",
                    "specTranslation": {
                        "x": -3.5,
                        "y": 0,
                        "z": 0
                    },
                    "rotation":{
                        "r": 0,
                        "p": 0,
                        "y": 0
                    }
                }
            }
        },
        "stereo_config":{
            "left_cam": "CAM_B",
            "right_cam": "CAM_C"
        }
    }
}

I have two OAK-FFC-3P device, and currently both have this behavior. So it should be easy to reproduce.

jakaskerl

Hi lincolnxlw
https://docs.luxonis.com/projects/api/en/latest/references/python/#depthai.DeviceBase.factoryResetCalibration
The method and the 5 below are used to operate with flash/eeprom.

Hope it helps,
Jaka

lincolnxlw

Hi jakaskerl

I ran this before but both of my OAK-FFC-3P saying

Factory reset calibration FAIL: Missing or corrupted factory default calibration

I think they never have factory calibration before because here is the output from calibration dump

No factory calibration: No or invalid EEPROM configuration flashed, error: EEPROM_INVALID_DATA

Is there a copy of factory calibration for OAK-FFC-3P I can use so I can try running flashFactoryCalibration?

Or should I run those EEPROM clear functions?

Thanks!

Lincoln

jakaskerl

Hi lincolnxlw
I think 3P doesn't have a factory calibration since it comes with modular cameras that don't have a specific baseline. You should only flash user calibration (the one used by calibrate.py) as it overrides previous calibrations. If your 3P doesn't find your cameras it would be more likely they are loosely connected or damaged. Can you please recheck?

There is also this example on how to use a calibration without flashing it to the device.

Thanks,
Jaka

lincolnxlw

Hi jakaskerl

Thanks for the suggestion, but I don't think loosely connected or damaged is the issue.

Here is the summary of the problem. I can reproduce it with the two OAK-FFC-3P I have.

Before flashing calibration data

OAK-FFC-3P is able to discover and view color (IMX214, IMX477, IMX577) and mono (OV9782) cameras from all the sockets (A, B and C). Of course for B and C I am running 1080P so it is only using 2 lane MIPI.

After flashing calibration data

Socket A can still discover color cameras, but socket B and C can only discover mono cameras. None of the color cameras (IMX214, IMX477, IMX577) I have work anymore.

The calibration data I flashed

{
  "batchName": "",
  "batchTime": 0,
  "boardConf": "",
  "boardCustom": "",
  "boardName": "",
  "boardOptions": 0,
  "boardRev": "",
  "cameraData": [
    [
      2,
      {
        "cameraType": 0,
        "distortionCoeff": [
          -0.5117843151092529,
          -0.06536504626274109,
          -5.844790211995132e-05,
          -0.0005799136124551296,
          0.025351274758577347,
          -0.16227206587791443,
          -0.3164222836494446,
          0.05816520377993584,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ],
        "extrinsics": {
          "rotationMatrix": [
            [
              0.9998506307601929,
              0.01509548258036375,
              0.008416909724473953
            ],
            [
              -0.01534199807792902,
              0.9994310736656189,
              0.03003622405230999
            ],
            [
              -0.007958710193634033,
              -0.030160870403051376,
              0.9995133876800537
            ]
          ],
          "specTranslation": {
            "x": 3.5,
            "y": -0.0,
            "z": -0.0
          },
          "toCameraSocket": 1,
          "translation": {
            "x": 3.646730661392212,
            "y": 0.18376091122627258,
            "z": 0.02605484239757061
          }
        },
        "height": 1080,
        "intrinsicMatrix": [
          [
            872.6644897460938,
            0.0,
            981.9554443359375
          ],
          [
            0.0,
            869.8309326171875,
            528.7936401367188
          ],
          [
            0.0,
            0.0,
            1.0
          ]
        ],
        "lensPosition": 0,
        "specHfovDeg": 140.0,
        "width": 1920
      }
    ],
    [
      1,
      {
        "cameraType": 0,
        "distortionCoeff": [
          5.590981960296631,
          -0.8370659947395325,
          -0.00031772308284416795,
          -0.0005036363145336509,
          -0.3884274959564209,
          5.948943138122559,
          1.0271347761154175,
          -1.038749098777771,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ],
        "extrinsics": {
          "rotationMatrix": [
            [
              0.9998506307601929,
              -0.01534199807792902,
              -0.007958710193634033
            ],
            [
              0.01509548258036375,
              0.9994310736656189,
              -0.030160870403051376
            ],
            [
              0.008416909724473953,
              0.03003622405230999,
              0.9995133876800537
            ]
          ],
          "specTranslation": {
            "x": -3.5,
            "y": -0.0,
            "z": -0.0
          },
          "toCameraSocket": 2,
          "translation": {
            "x": -3.6431593894958496,
            "y": -0.23791968822479248,
            "z": -0.0622558519244194
          }
        },
        "height": 1080,
        "intrinsicMatrix": [
          [
            870.5143432617188,
            0.0,
            982.17822265625
          ],
          [
            0.0,
            867.4022827148438,
            517.3909912109375
          ],
          [
            0.0,
            0.0,
            1.0
          ]
        ],
        "lensPosition": 0,
        "specHfovDeg": 140.0,
        "width": 1920
      }
    ]
  ],
  "hardwareConf": "",
  "imuExtrinsics": {
    "rotationMatrix": [
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0
      ]
    ],
    "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": [
      [
        0.9987073540687561,
        0.05032545328140259,
        0.007135476917028427
      ],
      [
        -0.05021293833851814,
        0.9986235499382019,
        -0.015156709589064121
      ],
      [
        -0.007888423278927803,
        0.014778824523091316,
        0.9998596906661987
      ]
    ],
    "rectifiedRotationRight": [
      [
        0.9977293014526367,
        0.06515757739543915,
        0.017049621790647507
      ],
      [
        -0.06540568917989731,
        0.9977545142173767,
        0.014422908425331116
      ],
      [
        -0.01607157476246357,
        -0.015505300834774971,
        0.9997506141662598
      ]
    ],
    "rightCameraSocket": 2
  },
  "version": 7
}

themarpe

lincolnxlw

Hi - modify the calibration data to contain productName: "OAK-FFC-3P" to make it work again.

lincolnxlw

Hi themarpe

Thanks for the suggestion! I tried that but as long as I added value "OAK-FFC-3P" for key "productName", the function device.flashCalibration2(calibData) shows the following error

Failed flashing calibration: No PROTECTED permissions to override protected EEPROM fields

Other keys have the same behavior include "boardConf" and "boardName". The flashing works fine if the values for those keys are empty string. I was trying to add the values for them according to this file. The version of depthai I am using is '2.21.2.0'.

I looked around and seems I need to set up some environment variables according to this. Is this the reason for the error or it is something else? If it is, how to set up those variables?

Thanks

Lincoln

lincolnxlw

Hi erik,

Thanks for the suggestion. That would be ideal. But kindly refer to the situation I posted above, OAK-FFC-3P is having issue detect any color cameras on socket B and socket C after I flashed my custom calibration result (I attached the full json in my previous comment and should be easy to reproduce). And themarpe was suggesting me to add value "OAK-FFC-3P" for key "productName" to resolve the issue, which involves writing protected eeprom fields. So I am a bit confused.

Thanks

Lincoln

erik

Hi lincolnxlw ,
Yes, that's the reason for the error, depthai doesn't let you change protected eeprom fields (like productName, boardConf), as you could easily brick the device. My suggestion would be to skip changing these, and only change intrinsics/extrinsics/stereo matrices. Thoughts?
Thanks, Erik

lincolnxlw

Hi erik

I can confirm adding "productName": "OAK-FFC-3P" and set the env param to allow flashing fix the issue.

Thanks!

Lincoln