Hi, I am using the OAK-D Pro W PoE.

I have recently performed the intrinsics calibration using the calibrate.py script. The calibration was "successful" and automatically flashed to the Oak's EEPROM. However, there is still noticeable distortion in the image, and the new distortion coefficients are very different from the pre-calibration values (i.e. the factory calibration). This makes me wonder whether my values are correct. Below I have provided the intrinsics and distortion coefficients from the synced_right stereo camera, and I was hoping if someone could tell me whether these values look roughly like what you would expect.

These values are taken from ROS2's CameraInfo message:

distortion_model: rational_polynomial

d:

- 2.1668901443481445

- 0.060823407024145126

- 0.0002548408810980618

- -0.0002648617373779416

- -0.031189916655421257

- 2.529113292694092

- 0.6403809189796448

- -0.08957222104072571

k:

- 575.4974975585938

- 0.0

- 645.4959716796875

- 0.0

- 575.623046875

- 376.11669921875

- 0.0

- 0.0

- 1.0

For the sake of comparison, below I have included the values from before I performed the intrinsic calibration. As you can see, the distortion coefficients are very different.

distortion_model: rational_polynomial

d:

- 6.661192417144775

- 2.013073205947876

- -0.00017646803462412208

- -2.3972261260496452e-05

- 0.035011935979127884

- 7.052441120147705

- 4.067800521850586

- 0.28086593747138977

k:

- 575.0081787109375

- 0.0

- 644.4645385742188

- 0.0

- 574.729736328125

- 378.305419921875

- 0.0

- 0.0

- 1.0

Thanks!

    Hi @jakaskerl, yes, here is the calibration dump:

    Is EEPROM available: True
User calibration: {
  "batchName": "",
  "batchTime": 1727331382,
  "boardConf": "IR-C02M00-00",
  "boardCustom": "",
  "boardName": "NG9097",
  "boardOptions": 7,
  "boardRev": "R4M2E4",
  "cameraData": [
    [
      2,
      {
        "cameraType": 0,
        "distortionCoeff": [
          2.8121469020843506,
          1.257256269454956,
          -5.167328708921559e-05,
          -7.724325405433774e-05,
          0.10430113971233368,
          3.172484874725342,
          2.0660829544067383,
          0.3654822111129761,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ],
        "extrinsics": {
          "rotationMatrix": [
            [
              0.999988317489624,
              -9.256267367163673e-05,
              0.004835532046854496
            ],
            [
              0.00014397969061974436,
              0.9999434351921082,
              -0.010633902624249458
            ],
            [
              -0.004834274295717478,
              0.010634474456310272,
              0.9999317526817322
            ]
          ],
          "specTranslation": {
            "x": 3.75,
            "y": 0.0,
            "z": 0.0
          },
          "toCameraSocket": 0,
          "translation": {
            "x": 3.7605032920837402,
            "y": 0.011657953262329102,
            "z": 0.02346234768629074
          }
        },
        "height": 800,
        "intrinsicMatrix": [
          [
            579.9857788085938,
            0.0,
            631.860107421875
          ],
          [
            0.0,
            580.0340576171875,
            363.8176574707031
          ],
          [
            0.0,
            0.0,
            1.0
          ]
        ],
        "lensPosition": 0,
        "specHfovDeg": 127.0,
        "width": 1280
      }
    ],
    [
      1,
      {
        "cameraType": 0,
        "distortionCoeff": [
          3.5019915103912354,
          5.293951034545898,
          -0.00048299613990820944,
          0.0004338204162195325,
          0.5814008116722107,
          3.850020408630371,
          6.400641918182373,
          1.9699337482452393,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ],
        "extrinsics": {
          "rotationMatrix": [
            [
              0.9999079704284668,
              -0.006087133660912514,
              -0.012126163579523563
            ],
            [
              0.006090349052101374,
              0.9999814033508301,
              0.00022825997439213097
            ],
            [
              0.01212454866617918,
              -0.0003020915319211781,
              0.9999264478683472
            ]
          ],
          "specTranslation": {
            "x": -7.5,
            "y": 0.0,
            "z": 0.0
          },
          "toCameraSocket": 2,
          "translation": {
            "x": -7.567436695098877,
            "y": -0.02975640445947647,
            "z": -0.08172912895679474
          }
        },
        "height": 800,
        "intrinsicMatrix": [
          [
            570.2531127929688,
            0.0,
            626.7810668945312
          ],
          [
            0.0,
            570.15576171875,
            378.0960998535156
          ],
          [
            0.0,
            0.0,
            1.0
          ]
        ],
        "lensPosition": 0,
        "specHfovDeg": 127.0,
        "width": 1280
      }
    ],
    [
      0,
      {
        "cameraType": 0,
        "distortionCoeff": [
          2.058764696121216,
          2.6466827392578125,
          8.557586261304095e-05,
          8.536181121598929e-05,
          0.3030857741832733,
          2.407479763031006,
          3.2426013946533203,
          1.0038360357284546,
          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": 800,
        "intrinsicMatrix": [
          [
            570.304931640625,
            0.0,
            629.5465087890625
          ],
          [
            0.0,
            570.2769165039062,
            401.3538818359375
          ],
          [
            0.0,
            0.0,
            1.0
          ]
        ],
        "lensPosition": 0,
        "specHfovDeg": 127.0,
        "width": 1280
      }
    ]
  ],
  "deviceName": "",
  "hardwareConf": "F1-FV01-BC001",
  "housingExtrinsics": {
    "rotationMatrix": [
      [
        0.9999685287475586,
        0.006724382750689983,
        -0.004208792466670275
      ],
      [
        -0.006760421209037304,
        0.9999400973320007,
        -0.008607814088463783
      ],
      [
        0.004150657914578915,
        0.008635996840894222,
        0.999954104423523
      ]
    ],
    "specTranslation": {
      "x": 0.0,
      "y": 0.0,
      "z": 0.0
    },
    "toCameraSocket": 2,
    "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-97",
  "stereoEnableDistortionCorrection": true,
  "stereoRectificationData": {
    "leftCameraSocket": 1,
    "rectifiedRotationLeft": [
      [
        0.9999967813491821,
        -0.0021581624168902636,
        -0.0013258651597425342
      ],
      [
        0.0021583321504294872,
        0.9999976754188538,
        0.00012663708184845746
      ],
      [
        0.001325588789768517,
        -0.00012949833762831986,
        0.9999991059303284
      ]
    ],
    "rectifiedRotationRight": [
      [
        0.9999339580535889,
        0.003931904677301645,
        0.010799393989145756
      ],
      [
        -0.003930521663278341,
        0.9999922513961792,
        -0.00014929425378795713
      ],
      [
        -0.010799896903336048,
        0.00010683714208425954,
        0.9999416470527649
      ]
    ],
    "rightCameraSocket": 2
  },
  "stereoUseSpecTranslation": false,
  "version": 7,
  "verticalCameraSocket": -1
}
Factory calibration: {
  "batchName": "",
  "batchTime": 1727331382,
  "boardConf": "IR-C02M00-00",
  "boardCustom": "",
  "boardName": "NG9097",
  "boardOptions": 7,
  "boardRev": "R4M2E4",
  "cameraData": [
    [
      2,
      {
        "cameraType": 0,
        "distortionCoeff": [
          0.33493420481681824,
          -0.04420066252350807,
          -1.4437129721045494e-05,
          0.00013134442269802094,
          -0.0016602163668721914,
          0.668021023273468,
          -0.015635773539543152,
          -0.01043360773473978,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0002373074385104701,
          0.0015954197151586413
        ],
        "extrinsics": {
          "rotationMatrix": [
            [
              0.9999890923500061,
              -0.00017142228898592293,
              0.004665052052587271
            ],
            [
              0.00022492947755381465,
              0.999934196472168,
              -0.01147168967872858
            ],
            [
              -0.004662778228521347,
              0.011472614482045174,
              0.9999232888221741
            ]
          ],
          "specTranslation": {
            "x": 3.75,
            "y": 0.0,
            "z": 0.0
          },
          "toCameraSocket": 0,
          "translation": {
            "x": 3.762890100479126,
            "y": -0.007918055169284344,
            "z": -0.017536383122205734
          }
        },
        "height": 800,
        "intrinsicMatrix": [
          [
            575.900634765625,
            0.0,
            632.1749877929688
          ],
          [
            0.0,
            575.6722412109375,
            364.78570556640625
          ],
          [
            0.0,
            0.0,
            1.0
          ]
        ],
        "lensPosition": 0,
        "specHfovDeg": 127.0,
        "width": 1280
      }
    ],
    [
      0,
      {
        "cameraType": 0,
        "distortionCoeff": [
          3.644315719604492,
          1.1598387956619263,
          -4.73108730147942e-06,
          -9.073270484805107e-05,
          0.02230517938733101,
          4.001214027404785,
          2.257716655731201,
          0.1693667471408844,
          0.0,
          0.0,
          0.0,
          0.0,
          -0.0003083021438214928,
          -0.0015275593614205718
        ],
        "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": 800,
        "intrinsicMatrix": [
          [
            568.2642822265625,
            0.0,
            631.056884765625
          ],
          [
            0.0,
            567.9614868164062,
            401.74835205078125
          ],
          [
            0.0,
            0.0,
            1.0
          ]
        ],
        "lensPosition": 0,
        "specHfovDeg": 127.0,
        "width": 1280
      }
    ],
    [
      1,
      {
        "cameraType": 0,
        "distortionCoeff": [
          0.3527507781982422,
          -0.03763377293944359,
          -5.2424384193727747e-05,
          5.703607530449517e-05,
          -0.0014700409956276417,
          0.6851705312728882,
          -0.005105725955218077,
          -0.009084836579859257,
          0.0,
          0.0,
          0.0,
          0.0,
          -0.0009626057581044734,
          -0.002751412335783243
        ],
        "extrinsics": {
          "rotationMatrix": [
            [
              0.9999281167984009,
              -0.005898918490856886,
              -0.01044121477752924
            ],
            [
              0.005888824816793203,
              0.9999821782112122,
              -0.000997181748971343
            ],
            [
              0.010446910746395588,
              0.0009356235968880355,
              0.9999449849128723
            ]
          ],
          "specTranslation": {
            "x": -7.5,
            "y": 0.0,
            "z": 0.0
          },
          "toCameraSocket": 2,
          "translation": {
            "x": -7.515321254730225,
            "y": -0.028511282056570053,
            "z": -0.06166126951575279
          }
        },
        "height": 800,
        "intrinsicMatrix": [
          [
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            0.0,
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          ],
          [
            0.0,
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            377.6974792480469
          ],
          [
            0.0,
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            1.0
          ]
        ],
        "lensPosition": 0,
        "specHfovDeg": 127.0,
        "width": 1280
      }
    ]
  ],
  "deviceName": "",
  "hardwareConf": "F1-FV01-BC001",
  "housingExtrinsics": {
    "rotationMatrix": [
      [
        0.9999685287475586,
        0.006724382750689983,
        -0.004208792466670275
      ],
      [
        -0.006760421209037304,
        0.9999400973320007,
        -0.008607814088463783
      ],
      [
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        0.008635996840894222,
        0.999954104423523
      ]
    ],
    "specTranslation": {
      "x": 0.0,
      "y": 0.0,
      "z": 0.0
    },
    "toCameraSocket": 2,
    "translation": {
      "x": 0.0,
      "y": 0.0,
      "z": 0.0
    }
  },
  "imuExtrinsics": {
    "rotationMatrix": [
      [
        0.0,
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        0.0
      ],
      [
        0.0,
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        0.0
      ],
      [
        0.0,
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        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-97",
  "stereoEnableDistortionCorrection": true,
  "stereoRectificationData": {
    "leftCameraSocket": 1,
    "rectifiedRotationLeft": [
      [
        0.9999952912330627,
        -0.0020974695216864347,
        -0.002240616362541914
      ],
      [
        0.002096381736919284,
        0.9999976754188538,
        -0.0004877359897363931
      ],
      [
        0.002241634065285325,
        0.00048303650692105293,
        0.9999973773956299
      ]
    ],
    "rectifiedRotationRight": [
      [
        0.9999591708183289,
        0.0037935993168503046,
        0.008204406127333641
      ],
      [
        -0.003797581186518073,
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      ],
      [
        -0.008202563971281052,
        -0.0005009507294744253,
        0.9999662041664124
      ]
    ],
    "rightCameraSocket": 2
  },
  "stereoUseSpecTranslation": false,
  "version": 7,
  "verticalCameraSocket": -1
}
User calibration raw: [7, 0, 170, 85, 3, 0, 0, 0, 0, 78, 71, 57, 48, 57, 55, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 82, 52, 77, 50, 69, 52, 0, 0, 0, 0, 202, 255, 127, 63, 245, 111, 13, 187, 167, 200, 173, 186, 206, 114, 13, 59, 217, 255, 127, 63, 226, 201, 4, 57, 97, 191, 173, 58, 242, 201, 7, 185, 241, 255, 127, 63, 172, 251, 127, 63, 53, 215, 128, 59, 241, 239, 48, 60, 155, 203, 128, 187, 126, 255, 127, 63, 223, 139, 28, 185, 13, 242, 48, 188, 193, 13, 224, 56, 45, 252, 127, 63, 1, 2, 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, 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, 0, 0, 0, 0, 255, 32, 3, 0, 5, 0, 51, 144, 14, 68, 0, 0, 0, 0, 253, 177, 28, 68, 0, 0, 0, 0, 248, 137, 14, 68, 77, 12, 189, 67, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 63, 161, 32, 96, 64, 12, 104, 169, 64, 165, 58, 253, 185, 100, 114, 227, 57, 175, 214, 20, 63, 188, 102, 118, 64, 15, 210, 204, 64, 202, 38, 252, 63, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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    @jakaskerl As far as I can tell, the intrinsics appear to be correct (the calculated focal length matches up with the data sheet), but the distortion coefficients are the issue. They vary significantly from the default coefficients.

      henry0987
      I see some development in the other thread, has this been solved? As long as the undistorted image looks ok, you shouldn't worry about distortion coefficients. It's a custom model that is not polynomial so all coefficients must be taken into account for the undistortion to work properly.

      Thanks,
      Jaka