Oak-D Camera calibration problem

Wiktor

Hi,

During calibration I came upon an error with very high reprojection error on rgb image dataset (Driffting from 10 to 30, when error for mono images is around 0.1-0.2). As shown image seems to be shifted with gray color blending near markers. The whole rgb camera image seems blurry and it struggles to find all markers on pictures. In same conditions I managed to calibrate Oak-D-Pro-W with no problems. May i need to use some additional code to fix rgb cam problem?

Thanks in advance,
Wiktor

jakaskerl

Hi @Wiktor
Based on the issue you've described, it seems like the root cause might be related to the lens position value not being optimal for your calibration process, especially if you're encountering this problem with an OAK-D-Pro device. For these devices, the default lens position value of 130 may not be suitable for all calibration scenarios.

I recommend running cam_test.py and manually adjusting the lens position value using the ',' and '.' keys to find the best focus value for your setup. Once you've determined the optimal lens position, you can then pass this value as an argument with -rlp rgb=value, where value is the best lens position value you found during testing.

Thanks,
Jaka