OAK-D-PRO-W flash with depthai v2 can not start

LynX19

We just bought brand new 3 OAK-D-PRO-W cameras. After do calibration, get value and flash successfully with depthai v2 API, camera can not start any more.

// Can find info from cameras

> > > import depthai as dai

> > > dai.Device.getAllAvailableDevices()

[DeviceInfo(name=1.4.2, mxid=19443010010DFB4800, X_LINK_UNBOOTED, X_LINK_USB_VSC, X_LINK_MYRIAD_X, X_LINK_SUCCESS), DeviceInfo(name=1.1, mxid=19443010619BFB4800, X_LINK_UNBOOTED, X_LINK_USB_VSC, X_LINK_MYRIAD_X, X_LINK_SUCCESS), DeviceInfo(name=1.4.1, mxid=1944301071EFFA4800, X_LINK_BOOTLOADER, X_LINK_USB_VSC, X_LINK_MYRIAD_X, X_LINK_SUCCESS)]

// Script depthai v2 API to check camera undistort, can not open camera

camera_undistort.py


#!/usr/bin/env python3

import depthai as dai

import cv2

pipeline = dai.Pipeline()

# Define sources and outputs

camRgb: dai.node.Camera = pipeline.create(dai.node.Camera)

#Properties

camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)

camRgb.setSize((1280, 800))

# Linking

videoOut = pipeline.create(dai.node.XLinkOut)

videoOut.setStreamName("video")

camRgb.video.link(videoOut.input)

ispOut = pipeline.create(dai.node.XLinkOut)

ispOut.setStreamName("isp")

camRgb.isp.link(ispOut.input)

with dai.Device(pipeline) as device:

video = device.getOutputQueue(name="video", maxSize=1, blocking=False)

isp = device.getOutputQueue(name="isp", maxSize=1, blocking=False)

while True:

    if video.has():

        cv2.imshow("video", video.get().getCvFrame())

    if isp.has():

        cv2.imshow("isp", isp.get().getCvFrame())

    if cv2.waitKey(1) == ord('q'):

        break

emage@ubuntu:~/Documents/OAK$ python3 camera_undistort.py

Traceback (most recent call last):

File "/home/emage/Documents/OAK/camera_undistort.py", line 24, in <module>

with dai.Device(pipeline) as device:

RuntimeError: Camera(0) - Camera not detected on socket: 0

// Script test cam from depthai_python repo, can not start too

emage@ubuntu:~/Documents/depthai-python/utilities$ python3 cam_test.py

DepthAI version: 2.30.0.0

DepthAI path: /home/emage/.local/lib/python3.10/site-packages/depthai.cpython-310-aarch64-linux-gnu.so

No cameras found!

// ros2 launch from depthai_ros_driver package, have error too

emage@ubuntu:\~$ ros2 launch depthai_ros_driver camera.launch.py

[INFO] [launch]: All log files can be found below /home/emage/.ros/log/2025-11-10-16-46-57-050387-ubuntu-7164

[INFO] [launch]: Default logging verbosity is set to INFO

[INFO] [component_container-1]: process started with pid [7180]

[component_container-1] [INFO] [1762764417.634630447] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so

[component_container-1] [INFO] [1762764417.639805022] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>

[component_container-1] [INFO] [1762764417.639911521] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>

[component_container-1] [INFO] [1762764417.723977815] [oak_state_publisher]: got segment oak

[component_container-1] [INFO] [1762764417.724101466] [oak_state_publisher]: got segment oak-d-base-frame

[component_container-1] [INFO] [1762764417.724116890] [oak_state_publisher]: got segment oak_imu_frame

[component_container-1] [INFO] [1762764417.724206428] [oak_state_publisher]: got segment oak_left_camera_frame

[component_container-1] [INFO] [1762764417.724219389] [oak_state_publisher]: got segment oak_left_camera_optical_frame

[component_container-1] [INFO] [1762764417.724229725] [oak_state_publisher]: got segment oak_model_origin

[component_container-1] [INFO] [1762764417.724238717] [oak_state_publisher]: got segment oak_rgb_camera_frame

[component_container-1] [INFO] [1762764417.724246845] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame

[component_container-1] [INFO] [1762764417.724254589] [oak_state_publisher]: got segment oak_right_camera_frame

[component_container-1] [INFO] [1762764417.724261790] [oak_state_publisher]: got segment oak_right_camera_optical_frame

[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak_state_publisher' in container '/oak_container'

[component_container-1] [INFO] [1762764417.728801248] [oak_container]: Load Library: /opt/ros/humble/lib/libdepthai_ros_driver.so

[component_container-1] [INFO] [1762764417.862220672] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>

[component_container-1] [INFO] [1762764417.863729440] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>

[component_container-1] [INFO] [1762764417.872108277] [oak_container]: Load Library: /opt/ros/humble/lib/librectify.so

[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container'

[component_container-1] [INFO] [1762764417.877870994] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>

[component_container-1] [INFO] [1762764417.879247311] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>

[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rectify_color_node' in container '/oak_container'

[component_container-1] [INFO] [1762764418.873720087] [oak]: Starting camera.

[component_container-1] [INFO] [1762764418.877703949] [oak]: No ip/mxid specified, connecting to the next available device.

[component_container-1] [INFO] [1762764421.729279412] [oak]: Camera with MXID: 19443010010DFB4800 and Name: 1.4.2 connected!

[component_container-1] [INFO] [1762764421.730197160] [oak]: USB SPEED: SUPER

[component_container-1] [INFO] [1762764421.777552918] [oak]: Device type: OAK-D-PRO-W

[component_container-1] [INFO] [1762764421.780819518] [oak]: Pipeline type: RGBD

[component_container-1] terminate called after throwing an instance of 'std::out_of_range'

[component_container-1]   what():  _Map_base::at

[ERROR] [component_container-1]: process has died [pid 7180, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args --log-level info --ros-args -r __node:=oak_container -r __ns:=/'].

Is this hardware issue or software?

OskarSonc

Hey @LynX19 - I saw you posted one more question for dai v3 with working cameras...
Did you get it working or still need help?

LynX19

Yes, I still need help to get it work with depthai v2 because whole my project was adapt for v2, don't want to change so much. After flash with v3, one camera still have same issue when start with camera.launch.py from depthai_ros_driver

OskarSonc

I don't understand exactly what's the problem, could you elaborate? Is camera working with dai v3 with cam_test.py? Is the problem only with daiv2?

Also, you don’t need to “calibrate, get value, and flash” on new OAKs. They ship pre-calibrated, and DepthAI uploads runtime firmware each time you run a script. Flashing is only needed if you’re intentionally replacing calibration or updating the bootloader.

LynX19

OskarSonc

You don’t “flash DepthAI v2/v3” onto the camera — DepthAI is a host-side API. OAKs ship pre-calibrated and receive runtime firmware every time you run code. Flashing is only for the bootloader or calibration; doing it incorrectly can leave a device in bootloader or with a wrong board config, which fits what you’re seeing.
Can you explain what exactly you did, so we can recover your devices?

v2 vs v3 lives entirely on your computer (the installed library and the code you run), not on the camera.
Also you cannot mix v2/v3...
If you want to use dai v2 then follow docs for v2:
https://docs.luxonis.com/software/

LynX19

{
    "batchName": "",
    "batchTime": 1757227057,
    "boardConf": "IR-C11M08-00",
    "boardCustom": "",
    "boardName": "DM9098",
    "boardOptions": 4194308,
    "boardRev": "R8M2E8",
    "cameraData": [
        [
            2,
            {
                "cameraType": 0,
                "distortionCoeff": [
                    2.799251092495904,
                    0.6716260939427913,
                    -0.0009292606790813785,
                    -5.477695845502843e-05,
                    0.003735967076301709,
                    3.1518239198534586,
                    1.4786795508036454,
                    0.06672373306014015
                ],
                "extrinsics": {
                    "rotationMatrix": [
                        [
                            0.9998781733019465,
                            -0.002795238196370924,
                            0.01532937157627293
                        ],
                        [
                            0.0028727566664825672,
                            0.9999832156231199,
                            -0.005052575033222556
                        ],
                        [
                            -0.015315607386243314,
                            0.005096428725828348,
                            0.9998694531009958
                        ]
                    ],
                    "specTranslation": {
                        "x": 3.75,
                        "y": 0.0,
                        "z": 0.0
                    },
                    "toCameraSocket": 0,
                    "translation": {
                        "x": 3.725839212478325,
                        "y": -0.008956936096240872,
                        "z": -0.0392690996360575
                    }
                },
                "height": 800,
                "intrinsicMatrix": [
                    [
                        565.3305384163488,
                        0.0,
                        642.7509867967057
                    ],
                    [
                        0.0,
                        565.3305384163488,
                        396.23589122934396
                    ],
                    [
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "lensPosition": 0,
                "specHfovDeg": 127.0,
                "width": 1280,
                "optimalIntrinsicMatrix": [
                    [
                        240.6043467282177,
                        0.0,
                        646.2326597286427
                    ],
                    [
                        0.0,
                        244.22206771136825,
                        383.0966258481088
                    ],
                    [
                        0.0,
                        0.0,
                        1.0
                    ]
                ]
            }
        ],
        [
            0,
            {
                "cameraType": 0,
                "distortionCoeff": [
                    -8.95503192857988,
                    -4.793230399193805,
                    0.0005809288553866258,
                    -0.0004989531553675831,
                    -0.14536120776748376,
                    -8.620794994645994,
                    -7.874442069205909,
                    -0.9184362048530589
                ],
                "extrinsics": {
                    "rotationMatrix": [
                        [
                            1.0,
                            0.0,
                            0.0
                        ],
                        [
                            0.0,
                            1.0,
                            0.0
                        ],
                        [
                            0.0,
                            0.0,
                            1.0
                        ]
                    ],
                    "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": [
                    [
                        567.1587609456845,
                        0.0,
                        640.0670781505587
                    ],
                    [
                        0.0,
                        567.1587609456845,
                        398.92397499005335
                    ],
                    [
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "lensPosition": 120,
                "specHfovDeg": 127.0,
                "width": 1280,
                "optimalIntrinsicMatrix": [
                    [
                        236.75777442576543,
                        0.0,
                        628.4940694412555
                    ],
                    [
                        0.0,
                        235.88460062014926,
                        406.0294238650474
                    ],
                    [
                        0.0,
                        0.0,
                        1.0
                    ]
                ]
            }
        ],
        [
            1,
            {
                "cameraType": 0,
                "distortionCoeff": [
                    0.4282685360647888,
                    -0.07577551825903839,
                    -0.0009244230468966838,
                    0.0005704611705991254,
                    -0.004956465533482875,
                    0.7684067065691871,
                    -0.0292196353357294,
                    -0.023265921695478815
                ],
                "extrinsics": {
                    "rotationMatrix": [
                        [
                            0.99968138743064,
                            -0.002751826837631254,
                            -0.025105140800384663
                        ],
                        [
                            0.0027217431117690185,
                            0.9999950129132517,
                            -0.0012687522451802042
                        ],
                        [
                            0.02510912762448076,
                            0.0011997761329195582,
                            0.9996840789033664
                        ]
                    ],
                    "specTranslation": {
                        "x": -7.5,
                        "y": 0.0,
                        "z": 0.0
                    },
                    "toCameraSocket": 2,
                    "translation": {
                        "x": -7.4243393574910375,
                        "y": 0.06176783879829165,
                        "z": -0.09736998282568948
                    }
                },
                "height": 800,
                "intrinsicMatrix": [
                    [
                        569.5027526393708,
                        0.0,
                        645.7799855433425
                    ],
                    [
                        0.0,
                        569.5027526393708,
                        396.83445641798085
                    ],
                    [
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "lensPosition": 0,
                "specHfovDeg": 127.0,
                "width": 1280,
                "optimalIntrinsicMatrix": [
                    [
                        251.50241999813136,
                        0.0,
                        665.3537602311195
                    ],
                    [
                        0.0,
                        249.46381310177455,
                        385.1763173923239
                    ],
                    [
                        0.0,
                        0.0,
                        1.0
                    ]
                ]
            }
        ]
    ],
    "deviceName": "",
    "hardwareConf": "F1-FV01-BC000",
    "housingExtrinsics": {
        "rotationMatrix": [
            [
                0.999972939491272,
                -0.0029729336965829134,
                0.00672992505133152
            ],
            [
                0.003010715590789914,
                0.9999797344207764,
                -0.005610866006463766
            ],
            [
                -0.006713107693940401,
                0.005630976054817438,
                0.9999616146087646
            ]
        ],
        "specTranslation": {
            "x": 0.0,
            "y": 0.0,
            "z": 0.0
        },
        "toCameraSocket": 2,
        "translation": {
            "x": 0.0,
            "y": 0.0,
            "z": 0.0
        }
    },
    "imuExtrinsics": {
        "rotationMatrix": [
            [
                1.0,
                0.0,
                0.0
            ],
            [
                0.0,
                1.0,
                0.0
            ],
            [
                0.0,
                0.0,
                1.0
            ]
        ],
        "specTranslation": {
            "x": -3.794800043106079,
            "y": -0.07900000363588333,
            "z": 0.0
        },
        "toCameraSocket": 0,
        "translation": {
            "x": -3.794800043106079,
            "y": -0.07900000363588333,
            "z": 0.0
        }
    },
    "miscellaneousData": [],
    "productName": "OAK-D-PRO-W-97",
    "stereoEnableDistortionCorrection": true,
    "stereoRectificationData": {
        "leftCameraSocket": 1,
        "rectifiedRotationLeft": [
            [
                0.9998670951460427,
                -0.011054817470414105,
                -0.011982614694221622
            ],
            [
                0.0110466861960735,
                0.9999387062946711,
                -0.0007445655275895416
            ],
            [
                0.011990111271369753,
                0.0006120983868812986,
                0.9999279286864954
            ]
        ],
        "rectifiedRotationRight": [
            [
                0.9998794123916057,
                -0.008318637846210352,
                0.013113387807912928
            ],
            [
                0.008309740138350521,
                0.999965204960233,
                0.0007328626557526302
            ],
            [
                -0.01311902794608689,
                -0.0006238054365805326,
                0.9999137472664965
            ]
        ],
        "rightCameraSocket": 2,
        "rectifiedProjectionLeft": [
            [
                -315.13471076111654,
                0.0,
                4128.294158935547,
                0.0
            ],
            [
                0.0,
                -315.13471076111654,
                1975.6996612548828,
                0.0
            ],
            [
                0.0,
                0.0,
                1.0,
                0.0
            ]
        ],
        "rectifiedProjectionRight": [
            [
                -315.13471076111654,
                0.0,
                4128.294158935547,
                2339.9492048936936
            ],
            [
                0.0,
                -315.13471076111654,
                1975.6996612548828,
                0.0
            ],
            [
                0.0,
                0.0,
                1.0,
                0.0
            ]
        ],
        "rectifiedQ": [
            [
                1.0,
                0.0,
                0.0,
                -4128.294158935547
            ],
            [
                0.0,
                1.0,
                0.0,
                -1975.6996612548828
            ],
            [
                0.0,
                0.0,
                0.0,
                -315.13471076111654
            ],
            [
                0.0,
                0.0,
                0.13467587676777515,
                -0.0
            ]
        ],
        "validPixROILeft": [
            0,
            0,
            0,
            0
        ],
        "validPixROIRight": [
            0,
            0,
            0,
            0
        ]
    },
    "stereoUseSpecTranslation": false,
    "version": 7,
    "verticalCameraSocket": -1
}

Above is json file I use for calib 1 camera. Each camera have it own file with same format but just have different value.
And below is the script I use for flash to camera


from pathlib import Path
import cv2
import depthai as dai
import argparse
import os.path as osp

cam_ids = {
    'front': '19443010010DFB4800',
    'left': '19443010619BFB4800',
    'right': '1944301071EFFA4800'
}

calibJsonDir = "/home/emage/Documents/calib_img"
calibBackUpDir = '.'

parser = argparse.ArgumentParser()
parser.add_argument('calibJsonDir', nargs='?', help="Path to calibration file in json", default=calibJsonDir)
args = parser.parse_args()

cam_status = {
    'front': False,
    'left': False,
    'right': False
}

for cam in list(cam_ids.keys()):
    cam_id = cam_ids[cam]
    choosed_id = None
    found = dai.Device.getAllAvailableDevices()
    for i, device_info in enumerate(found):
        if cam_id == device_info.deviceId:
            choosed_id = i
            break
    
    assert choosed_id is not None, f"Camera {cam} with ID {cam_id} not found"

    # Select first available device
    device = found[choosed_id]
    print(f"Connecting to: {device_info}")
    calibJsonFile = osp.join(args.calibJsonDir, cam, "result.json")
    calibBackUpFile = f'{calibBackUpDir}/{cam}_calib.json'

    assert osp.exists(calibJsonFile), f"Calibration file {calibJsonFile} does not exist"

    # Connect device
    with dai.Device(device_info) as device:
        deviceCalib = device.readCalibration()
        deviceCalib.eepromToJsonFile(calibBackUpFile)
        print("Calibration Data on the device is backed up at:")
        print(calibBackUpFile)
        calibData = dai.CalibrationHandler(calibJsonFile)
        print(f"Prepare to flash {calibJsonFile}")

        try:
            device.flashCalibration(calibData)
            print('Successfully flashed calibration')
        except Exception as ex:
            print(f'Failed flashing calibration: {ex}')

OskarSonc

The JSON you flashed isn’t for an OAK-D-PRO-W. It sets all three sockets (RGB/LEFT/RIGHT) to 1280×800 with 127° FOV, which matches mono OV9282-style intrinsics. On OAK-D-PRO-W the RGB (CAM_A) is a 12 MP color sensor, so this EEPROM doesn’t match the hardware. That’s why you get “Camera not detected on socket: 0” and ROS crashes.

You will have to restore the factory calibration. Do this:
https://docs.luxonis.com/software-v3/depthai/examples/calibration/calibration_factory_reset/

After that don't do any flashing of the camera, just install daiv2/3 as in our documentation on your computer and run a cam_test.py script...

LynX19

Okay, will do and update result later

LynX19

My cameras are OV9782 1MP. I want to use undistorted image with widest FOV for my application, what should I do?
First time I received cameras, without any flash still show this error "Camera not detected on socket: 0". After factory reset, now can start