- Edited
Is there a generic pre-calibrated file available for OAK-D Pro W Dev that I can flash to it? I tried calibrating it myself but the error reprojection score is greater than .2.
OAK-D Pro W Dev generic/pre-calibrated calibration file?
- Edited
Hi @Coded
The device factory calibration is stored in a different place in eeprom than the user calibrations, which means you can switch back to factory calibration if you wish.
There is no generic file since every device is different. I can send you a calibration dump for my oak-d-pri-w. Keep in mind it likely won't work. Make sure you have the same device otherwise you can brick it 
.
{
"batchName": "",
"batchTime": 1661922568,
"boardConf": "IR-C00M01-00",
"boardCustom": "",
"boardName": "DM9098",
"boardOptions": 4,
"boardRev": "R6M2E6",
"cameraData": [
[
0,
{
"cameraType": 0,
"distortionCoeff": [
-5.042003631591797,
86.14021301269531,
0.0008342402870766819,
0.00010090768773807213,
14.492795944213867,
-4.888136863708496,
84.9620132446289,
34.80670928955078,
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": 2160,
"intrinsicMatrix": [
[
2292.760498046875,
0.0,
1936.5240478515625
],
[
0.0,
2292.760498046875,
1105.073974609375
],
[
0.0,
0.0,
1.0
]
],
"lensPosition": 0,
"specHfovDeg": 108.0,
"width": 3840
}
],
[
1,
{
"cameraType": 0,
"distortionCoeff": [
5.98232364654541,
1.6271799802780151,
-8.120815618894994e-05,
-5.0135975470766425e-05,
-0.009065531194210052,
6.344851970672607,
3.4573872089385986,
0.13800279796123505,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"extrinsics": {
"rotationMatrix": [
[
0.9996099472045898,
-0.007203773129731417,
-0.026982620358467102
],
[
0.007262792903929949,
0.9999714493751526,
0.0020899632945656776
],
[
0.026966793462634087,
-0.002285117283463478,
0.9996337294578552
]
],
"specTranslation": {
"x": -7.5,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": 2,
"translation": {
"x": -7.513223648071289,
"y": -0.025073356926441193,
"z": -0.1316140592098236
}
},
"height": 800,
"intrinsicMatrix": [
[
570.9365234375,
0.0,
638.0145263671875
],
[
0.0,
570.9365234375,
401.06060791015625
],
[
0.0,
0.0,
1.0
]
],
"lensPosition": 0,
"specHfovDeg": 127.0,
"width": 1280
}
],
[
2,
{
"cameraType": 0,
"distortionCoeff": [
1.5676255226135254,
-0.18311378359794617,
-0.0004861801862716675,
-0.00017931987531483173,
-0.03912357985973358,
1.9217243194580078,
0.199959859251976,
-0.13389280438423157,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"extrinsics": {
"rotationMatrix": [
[
0.9999000430107117,
0.0016840724274516106,
0.014039511792361736
],
[
-0.0016728108748793602,
0.9999982714653015,
-0.0008138355915434659
],
[
-0.014040857553482056,
0.0007902688230387866,
0.9999011158943176
]
],
"specTranslation": {
"x": 3.75,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": 0,
"translation": {
"x": 3.701955795288086,
"y": -0.01086354162544012,
"z": 0.015328668989241123
}
},
"height": 800,
"intrinsicMatrix": [
[
572.0092163085938,
0.0,
630.994873046875
],
[
0.0,
572.0092163085938,
398.25335693359375
],
[
0.0,
0.0,
1.0
]
],
"lensPosition": 0,
"specHfovDeg": 127.0,
"width": 1280
}
]
],
"deviceName": "",
"hardwareConf": "F1-FV01-BC001",
"housingExtrinsics": {
"rotationMatrix": [],
"specTranslation": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": -1,
"translation": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"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": "OAK-D Pro W",
"stereoEnableDistortionCorrection": false,
"stereoRectificationData": {
"leftCameraSocket": 1,
"rectifiedRotationLeft": [
[
0.9999476075172424,
-0.003906046971678734,
-0.009462901391088963
],
[
0.0039163087494671345,
0.999991774559021,
0.0010661312844604254
],
[
0.009458659216761589,
-0.0011031350586563349,
0.9999546408653259
]
],
"rectifiedRotationRight": [
[
0.999841034412384,
0.003336699679493904,
0.017514871433377266
],
[
-0.00331769953481853,
0.9999938607215881,
-0.0011137473629787564
],
[
-0.017518479377031326,
0.0010554612381383777,
0.9998459815979004
]
],
"rightCameraSocket": 2
},
"stereoUseSpecTranslation": true,
"version": 7,
"verticalCameraSocket": -1
}Thanks,
Jaka
- Edited
Thanks @jakaskerl for sending this over. The dev version seems to have a different boardname and boardrev. Yes, it might be better for me not to flash this.
Do you've any suggestions as to achieving a score that is around 0.1? What is a good error reprojection score though? I've tried using my monitor to calibrate but the IR LEDs get reflected in the screen so I printed it out instead on an A4 sheet.
For the 39 images, are you supposed to randomly take the image of the Charuco board at different angles? I've tried many times but it's not going below 0.3….
Hi Coded
The requirement for 39 images was from previous calibration. Right now, you don't need as many images, but they have to be as diverse as possible.
https://docs.luxonis.com/projects/hardware/en/latest/pages/guides/calibration/ features a demo which you can follow.
The calibration process is a bit different than what it was a few months ago.
Coded I've tried using my monitor to calibrate but the IR LEDs get reflected in the screen so I printed it out instead on an A4 sheet.
I'd recommend a monitor, and disabling IR projector/taping it for the time being. This is because the A4 paper can be uneven which could cause the high reprojection error.
Thanks,
Jaka
Thank you so much for the help!