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": [

        [

          0\.9999061822891235,

          0\.006853457074612379,

          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

  ],

  [

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  ],

  [

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    -0.0012497005518525839,

    0\.9999755024909973

  ]

],

"rectifiedRotationRight": [

  [

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    -0.001927567645907402,

    -0.004964865278452635

  ],

  [

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    -0.0012374670477584004

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  [

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    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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  • jakaskerl replied to this.
  • Hi akira2390
    So this is the error after you have taken all the images?

    • Could you try running calibrate.py <same args> -m process to only run the calibration?
    • Could you try retaking the images. This looks to me like there is a mismatch between the total number of marker corners detected and the total number of marker IDs; or that no markers were detected. Usually this would mean the script will error out beforehand, but just to make sure, recheck the dataset folder if there are images with no markers.

    Thanks,
    Jaka

    Hi akira2390
    So this is the error after you have taken all the images?

    • Could you try running calibrate.py <same args> -m process to only run the calibration?
    • Could you try retaking the images. This looks to me like there is a mismatch between the total number of marker corners detected and the total number of marker IDs; or that no markers were detected. Usually this would mean the script will error out beforehand, but just to make sure, recheck the dataset folder if there are images with no markers.

    Thanks,
    Jaka

    Thanks for fast responce.

    I tried retaking image with keeping all of the marker in screen in mind, and this thing succeeded to calibrate. thank you so much!