- I use python package 2.26.0, that was the latest I could install using pip
- The problem happens right after camera boot. The camera is not warm at all. There is no NN or anything else running on the camera except grabbing the two images.
- I have 4 cameras of the same type. I cannot reproduce the problem with any of the other 3 cameras. When running the same script.
- Here is the calibration from the camera:
User calibration: {
"batchName": "",
"batchTime": 1708949643,
"boardConf": "IR-C00M00-00",
"boardCustom": "",
"boardName": "NG9097",
"boardOptions": 7,
"boardRev": "R4M2E4",
"cameraData": [
[
1,
{
"cameraType": 0,
"distortionCoeff": [
3\.5571253299713135,
1\.0675731897354126,
0\.00011813067976618186,
-4.179932602710323e-06,
0\.019934868440032005,
3\.9141414165496826,
2\.124300003051758,
0\.15198968350887299,
0\.0,
0\.0,
0\.0,
0\.0,
0\.0,
0\.0
],
"extrinsics": {
"rotationMatrix": [
[
0\.9998213648796082,
0\.008929289877414703,
-0.01665874384343624
],
[
-0.009426653385162354,
0\.9995048642158508,
-0.03002036362886429
],
[
0\.016382433474063873,
0\.030172036960721016,
0\.9994104504585266
]
],
"specTranslation": {
"x": -7.5,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": 2,
"translation": {
"x": -7.511865139007568,
"y": 0.006338753271847963,
"z": 0.008916680701076984
}
},
"height": 800,
"intrinsicMatrix": [
[
563\.3818359375,
0\.0,
620\.244384765625
],
[
0\.0,
563\.4485473632812,
401\.442138671875
],
[
0\.0,
0\.0,
1\.0
]
],
"lensPosition": 0,
"specHfovDeg": 127.0,
"width": 1280
}
],
[
0,
{
"cameraType": 0,
"distortionCoeff": [
12\.214872360229492,
11\.166379928588867,
0\.0009387647733092308,
-0.0005655140266753733,
-1.9312169551849365,
12\.175280570983887,
14\.985671043395996,
-1.223604440689087,
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": [
[
2311\.1796875,
0\.0,
1912\.238525390625
],
[
0\.0,
2309\.768798828125,
1092\.1376953125
],
[
0\.0,
0\.0,
1\.0
]
],
"lensPosition": 0,
"specHfovDeg": 108.0,
"width": 3840
}
],
[
2,
{
"cameraType": 0,
"distortionCoeff": [
5\.346960544586182,
1\.4969804286956787,
-0.0008067575399763882,
6\.0376351029844955e-05,
0\.028692806139588356,
5\.729836940765381,
3\.11305832862854,
0\.20841671526432037,
0\.0,
0\.0,
0\.0,
0\.0,
0\.0,
0\.0
],
"extrinsics": {
"rotationMatrix": [
[
0\.9998905658721924,
-0.013739221729338169,
0\.005482451058924198
],
[
0\.013782133348286152,
0\.9998740553855896,
-0.007867513224482536
],
[
-0.005373666994273663,
0\.00794221181422472,
0\.9999540448188782
]
],
"specTranslation": {
"x": 3.75,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": 0,
"translation": {
"x": 3.768968343734741,
"y": 0.059201680123806,
"z": -0.07226227968931198
}
},
"height": 800,
"intrinsicMatrix": [
[
574\.7843627929688,
0\.0,
623\.1576538085938
],
[
0\.0,
574\.4819946289062,
429\.1021423339844
],
[
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-POE",
"stereoEnableDistortionCorrection": true,
"stereoRectificationData": {
"leftCameraSocket": 1,
"rectifiedRotationLeft": [
[
0\.9998087882995605,
0\.00805005244910717,
-0.017819706350564957
],
[
-0.008317464031279087,
0\.9998531341552734,
-0.0149836465716362
],
[
0\.017696470022201538,
0\.015128996223211288,
0\.9997289180755615
]
],
"rectifiedRotationRight": [
[
0\.999998927116394,
-0.0008438312215730548,
-0.0011870115995407104
],
[
0\.0008616084815002978,
0\.9998862743377686,
0\.015056533738970757
],
[
0\.001174171338789165,
-0.015057540498673916,
0\.9998859167098999
]
],
"rightCameraSocket": 2
},
"stereoUseSpecTranslation": false,
"version": 7,
"verticalCameraSocket": -1
}
Factory calibration: {
"batchName": "",
"batchTime": 1708949643,
"boardConf": "IR-C00M00-00",
"boardCustom": "",
"boardName": "NG9097",
"boardOptions": 7,
"boardRev": "R4M2E4",
"cameraData": [
[
1,
{
"cameraType": 0,
"distortionCoeff": [
3\.5571253299713135,
1\.0675731897354126,
0\.00011813067976618186,
-4.179932602710323e-06,
0\.019934868440032005,
3\.9141414165496826,
2\.124300003051758,
0\.15198968350887299,
0\.0,
0\.0,
0\.0,
0\.0,
0\.0,
0\.0
],
"extrinsics": {
"rotationMatrix": [
[
0\.9998213648796082,
0\.008929289877414703,
-0.01665874384343624
],
[
-0.009426653385162354,
0\.9995048642158508,
-0.03002036362886429
],
[
0\.016382433474063873,
0\.030172036960721016,
0\.9994104504585266
]
],
"specTranslation": {
"x": -7.5,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": 2,
"translation": {
"x": -7.511865139007568,
"y": 0.006338753271847963,
"z": 0.008916680701076984
}
},
"height": 800,
"intrinsicMatrix": [
[
563\.3818359375,
0\.0,
620\.244384765625
],
[
0\.0,
563\.4485473632812,
401\.442138671875
],
[
0\.0,
0\.0,
1\.0
]
],
"lensPosition": 0,
"specHfovDeg": 127.0,
"width": 1280
}
],
[
0,
{
"cameraType": 0,
"distortionCoeff": [
12\.214872360229492,
11\.166379928588867,
0\.0009387647733092308,
-0.0005655140266753733,
-1.9312169551849365,
12\.175280570983887,
14\.985671043395996,
-1.223604440689087,
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": [
[
2311\.1796875,
0\.0,
1912\.238525390625
],
[
0\.0,
2309\.768798828125,
1092\.1376953125
],
[
0\.0,
0\.0,
1\.0
]
],
"lensPosition": 0,
"specHfovDeg": 108.0,
"width": 3840
}
],
[
2,
{
"cameraType": 0,
"distortionCoeff": [
5\.346960544586182,
1\.4969804286956787,
-0.0008067575399763882,
6\.0376351029844955e-05,
0\.028692806139588356,
5\.729836940765381,
3\.11305832862854,
0\.20841671526432037,
0\.0,
0\.0,
0\.0,
0\.0,
0\.0,
0\.0
],
"extrinsics": {
"rotationMatrix": [
[
0\.9998905658721924,
-0.013739221729338169,
0\.005482451058924198
],
[
0\.013782133348286152,
0\.9998740553855896,
-0.007867513224482536
],
[
-0.005373666994273663,
0\.00794221181422472,
0\.9999540448188782
]
],
"specTranslation": {
"x": 3.75,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": 0,
"translation": {
"x": 3.768968343734741,
"y": 0.059201680123806,
"z": -0.07226227968931198
}
},
"height": 800,
"intrinsicMatrix": [
[
574\.7843627929688,
0\.0,
623\.1576538085938
],
[
0\.0,
574\.4819946289062,
429\.1021423339844
],
[
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-POE",
"stereoEnableDistortionCorrection": true,
"stereoRectificationData": {
"leftCameraSocket": 1,
"rectifiedRotationLeft": [
[
0\.9998087882995605,
0\.00805005244910717,
-0.017819706350564957
],
[
-0.008317464031279087,
0\.9998531341552734,
-0.0149836465716362
],
[
0\.017696470022201538,
0\.015128996223211288,
0\.9997289180755615
]
],
"rectifiedRotationRight": [
[
0\.999998927116394,
-0.0008438312215730548,
-0.0011870115995407104
],
[
0\.0008616084815002978,
0\.9998862743377686,
0\.015056533738970757
],
[
0\.001174171338789165,
-0.015057540498673916,
0\.9998859167098999
]
],
"rightCameraSocket": 2
},
"stereoUseSpecTranslation": false,
"version": 7,
"verticalCameraSocket": -1
}
