Hi, I'm trying to get the old OAK-D from kickstarter campaign to work, but the calibration.py fails. this is the log after captured the images.
Starting image processing
<------------Calibrating rgb ------------>
INTRINSIC CALIBRATION
Reprojection error of rgb: 442.2795203907283
<------------Calibrating left ------------>
INTRINSIC CALIBRATION
Reprojection error of left: 122.90638091111992
<------------Calibrating right ------------>
INTRINSIC CALIBRATION
Reprojection error of right: 120.36591023794446
<-------------Extrinsics calibration of left and right ------------>
Reprojection error is 7.583639400115091e+23
<-------------Epipolar error of left and right ------------>
Original intrinsics ....
L [[1.27699562e+03 0.00000000e+00 8.87264686e+02]
[0.00000000e+00 1.52861455e+02 4.51061776e+02]
[0.00000000e+00 0.00000000e+00 1.00000000e+00]]
R: [[423.21897537 0. 664.32717887]
[ 0. 53.09846117 507.90873062]
[ 0. 0. 1. ]]
Intrinsics from the getOptimalNewCameraMatrix/Original ....
L: [[423.21897537 0. 664.32717887]
[ 0. 53.09846117 507.90873062]
[ 0. 0. 1. ]]
R: [[423.21897537 0. 664.32717887]
[ 0. 53.09846117 507.90873062]
[ 0. 0. 1. ]]
Device closed in exception..
OpenCV(4.5.5) D:\a\opencv-python\opencv-python\opencv_contrib\modules\aruco\src\charuco.cpp:448: error: (-215:Assertion failed) _markerCorners.total() == _markerIds.getMat().total() && markerIds.getMat().total() > 0 in function 'cv::aruco::interpolateCornersCharucoLocalHom'
Traceback (most recent call last):
File "D:\Users\akira\Documents\0_Documents\Coding\Python\Oak-D\depthai\calibrate.py", line 968, in calibrate
status, result_config = stereo_calib.calibrate(
^^^^^^^^^^^^^^^^^^^^^^^
File "D:\Users\akira\Documents\0_Documents\Coding\Python\Oak-D\depthai\depthai_calibration\calibration_utils.py", line 233, in calibrate
left_cam_info['extrinsics']['epipolar_error'] = self.test_epipolar_charuco(
^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "D:\Users\akira\Documents\0_Documents\Coding\Python\Oak-D\depthai\depthai_calibration\calibration_utils.py", line 1162, in test_epipolar_charuco
res2_l = cv2.aruco.interpolateCornersCharuco(
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
cv2.error: OpenCV(4.5.5) D:\a\opencv-python\opencv-python\opencv_contrib\modules\aruco\src\charuco.cpp:448: error: (-215:Assertion failed) _markerCorners.total() == _markerIds.getMat().total() && markerIds.getMat().total() > 0 in function 'cv::aruco::interpolateCornersCharucoLocalHom'
This is the result of EEPROM dump.
Is EEPROM available: True
User calibration: {
"batchName": "",
"batchTime": 0,
"boardConf": "",
"boardCustom": "",
"boardName": "BW1098OBC",
"boardOptions": 0,
"boardRev": "R0M0E0",
"cameraData": [
[
0,
{
"cameraType": 0,
"distortionCoeff": [
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
],
"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": [
[
0\.0,
0\.0,
0\.0
],
[
0\.0,
0\.0,
0\.0
],
[
0\.0,
0\.0,
0\.0
]
],
"lensPosition": 135,
"specHfovDeg": 68.7938003540039,
"width": 1920
}
],
[
1,
{
"cameraType": 0,
"distortionCoeff": [
-5.636873245239258,
18\.20918083190918,
0\.0007580423844046891,
0\.0007687018369324505,
-18.98082733154297,
-5.687201023101807,
18\.42165184020996,
-19.197059631347656,
0\.0,
0\.0,
0\.0,
0\.0,
0\.0,
0\.0
],
"extrinsics": {
"rotationMatrix": [
[
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0\.01185893639922142
],
[
-0.006882740184664726,
0\.9999733567237854,
0\.0024302592501044273
],
[
-0.011841964907944202,
-0.0025116531178355217,
0\.999926745891571
]
],
"specTranslation": {
"x": -7.500000476837158,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": 2,
"translation": {
"x": -7.471436500549316,
"y": 0.014401903375983238,
"z": 0.03709520027041435
}
},
"height": 800,
"intrinsicMatrix": [
[
860\.3281860351562,
0\.0,
646\.0197143554688
],
[
0\.0,
860\.8609619140625,
394\.2220153808594
],
[
0\.0,
0\.0,
1\.0
]
],
"lensPosition": 0,
"specHfovDeg": 71.86000061035156,
"width": 1280
}
],
[
2,
{
"cameraType": 0,
"distortionCoeff": [
-5.77131462097168,
20\.713905334472656,
0\.0007862653001211584,
0\.0016219017561525106,
-24.712549209594727,
-5.820008277893066,
20\.902925491333008,
-24.89635467529297,
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": 3.750000238418579,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": 0,
"translation": {
"x": -0.0,
"y": -0.0,
"z": -0.0
}
},
"height": 800,
"intrinsicMatrix": [
[
853\.3291015625,
0\.0,
637\.2852172851562
],
[
0\.0,
854\.1265258789062,
408\.8228454589844
],
[
0\.0,
0\.0,
1\.0
]
],
"lensPosition": 0,
"specHfovDeg": 71.86000061035156,
"width": 1280
}
]
],
"deviceName": "",
"hardwareConf": "",
"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": [],
"specTranslation": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": -1,
"translation": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"miscellaneousData": [],
"productName": "",
"stereoEnableDistortionCorrection": false,
"stereoRectificationData": {
"leftCameraSocket": 1,
"rectifiedRotationLeft": [
[
0\.9999640583992004,
0\.004938313737511635,
0\.006889582145959139
],
[
-0.004946802742779255,
0\.999987006187439,
0\.001215662807226181
],
[
-0.006883489433676004,
-0.0012497005518525839,
0\.9999755024909973
]
],
"rectifiedRotationRight": [
[
0\.9999858140945435,
-0.001927567645907402,
-0.004964865278452635
],
[
0\.0019214460626244545,
0\.9999973773956299,
-0.0012374670477584004
],
[
0\.004967237822711468,
0\.0012279096990823746,
0\.9999868869781494
]
],
"rightCameraSocket": 2
},
"stereoUseSpecTranslation": true,
"version": 5,
"verticalCameraSocket": -1
}
No factory calibration: No or invalid EEPROM configuration flashed, error: EEPROM_INVALID_DATA
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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, 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