What could cause all the camera intrinsics to be set to 0?

henry0987

I recently noticed that all of the intrinsics on several of my Oaks got set to 0 sometime during our provisioning process. The provisioning process involves using the depthai library to flash the factory bootloader and then the oak device manager configure the Oak to have a static IP.

Is it possible there was some sort of network disconnect during one of these provisioning steps that lead to a corrupted flash and somehow then all the intrinsics being set to 0? I didn't check the cameras intrinsics before doing the provisioning, so is it possible that the devices arrived this way? Have you seen this issue before?

Any leads are helpful. Thank you.

OskarSonc

Hey @henry0987

Bootloader flash + static IP shouldn’t affect calibration, most often it’s just the user cal slot being empty. Could you dump both factory/user calibration and let us know which device you’re using?

Thanks
Oskar

henry0987

Hi OskarSonc , thanks for the response.

Here's the calibration that was on the device when I had the issue:

{'batchName': '', 'batchTime': 1750312633, 'boardConf': 'IR-C02M00-00', 'boardCustom': '', 'boardName': 'NG9097', 'boardOptions': 7, 'boardRev': 'R4M2E4', 'cameraData': [], '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-97', 'stereoEnableDistortionCorrection': False, 'stereoRectificationData': {'leftCameraSocket': 255, 'rectifiedRotationLeft': [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], 'rectifiedRotationRight': [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], 'rightCameraSocket': 255}, 'stereoUseSpecTranslation': True, 'version': 7, 'verticalCameraSocket': -1}

As you can see, it's all zeros. When I grabbed this calibration data, I had not yet flashed my custom calibration or touched the device's calibration, so it appears that it arrived like this?

I don't have the factory calibrations right now, but I'll say that when I ran the Luxonis calibration (i.e. calibrate.py), these calibrations did flash successfully and got rid of the zeros.

My best guess right now is that the camera was in some state where it thought it was supposed to use the user calibration, but didn't have any, hence the zeros.

Camera: Oak-D Pro W PoE

Let me know if there's any information you need or if you've even seen this issue before.

Thanks

OskarSonc

Yes, looks like the device was reading an empty user calibration (zeros).
It would be helpful if you could share MXID and dump factory vs user slot:
https://docs.luxonis.com/software-v3/depthai/examples/calibration/calibration_dump/.

If factory is intact, use/copy it; if both are blank on an integrated unit, we’ll sort recalibration/RMA.
Here is how to factory reset calibration, if its intact:
https://docs.luxonis.com/software-v3/depthai/examples/calibration/calibration_factory_reset/

Thanks,
Oskar