I am working on camera pair of 3 cameras where 2 are *OV9782-FF* and one in between is *OV9782-W* wide angle lens of 127 fov. So the 2 stereo camera pairs are placed normally but rgb is placed 180 degree roll as seen in the attached image. Cameras are connected to *OAK_FFC_4P* Board, Middle wide angle camera connected on *CAM_A* socket and other two on *CAMB* and *CAM_C.* [upl-image-preview uuid=b506a733-7ac1-4504-a8c8-571145b68ee1 url=https://discuss.luxonis.com/assets/files/2025-11-27/1764227329-952841-whatsapp-image-2025-11-27-at-114450-am.jpg alt={TEXT?}] ##### I am sharing the json containing the configurations: https://drive.google.com/file/d/1RWpEvvNUlenjYJSSa2eXDMWXyD_ISpcc/view?usp=sharing I am using *charuco24inch_13x7.pdf* for calibration on *27-inch* monitor which has each block to be of 4.44cm.(`python3 calibrate.py -s 4.440 -nx 13 -ny 7 -brd OAK-FFC-4P-3Cam.json`) ##### The epipolar error photo for your reference: [upl-image-preview uuid=318bf927-1de3-4822-8520-6b1ea4d195e3 url=https://discuss.luxonis.com/assets/files/2025-11-27/1764227778-772515-screenshot-from-2025-11-27-12-23-20.png alt={TEXT?}] ##### Command Line Output: `Starting image processing` `` `INTRINSIC CALIBRATION` `Reprojection error of right: 0.2880745752764004` `` `INTRINSIC CALIBRATION` `Reprojection error of left: 0.2727957762410266` `` `INTRINSIC CALIBRATION` `Reprojection error of middle: 0.30279732329162556` `` `Reprojection error is 0.29644268614224706` `` `Original intrinsics ....` `L [[399.53672362 0. 325.88392518]` ` [ 0. 399.64585442 203.29043559]` ` [ 0. 0. 1. ]]` `R: [[392.66001003 0. 298.92308488]` ` [ 0. 392.80459967 201.00279038]` ` [ 0. 0. 1. ]]` `Intrinsics from the getOptimalNewCameraMatrix/Original ....` `L: [[392.66001003 0. 298.92308488]` ` [ 0. 392.80459967 201.00279038]` ` [ 0. 0. 1. ]]` `R: [[392.66001003 0. 298.92308488]` ` [ 0. 392.80459967 201.00279038]` ` [ 0. 0. 1. ]]` `Average Epipolar Error is : 0.22796665257621102` `Displaying Stereo Pair for visual inspection. Press the [ESC] key to exit.` `` `Reprojection error is 0.4714245988764749` `` `Original intrinsics ....` `L [[392.66001003 0. 298.92308488]` ` [ 0. 392.80459967 201.00279038]` ` [ 0. 0. 1. ]]` `R: [[283.07918457 0. 312.22032188]` ` [ 0. 283.16246496 197.31399282]` ` [ 0. 0. 1. ]]` `Intrinsics from the getOptimalNewCameraMatrix/Original ....` `L: [[283.07918457 0. 312.22032188]` ` [ 0. 283.16246496 197.31399282]` ` [ 0. 0. 1. ]]` `R: [[283.07918457 0. 312.22032188]` ` [ 0. 283.16246496 197.31399282]` ` [ 0. 0. 1. ]]` `Average Epipolar Error is : 16.532479417584668` `Displaying Stereo Pair for visual inspection. Press the [ESC] key to exit.` `Reprojection error threshold -> 1.0` `right Reprojection Error: 0.288075` `Reprojection error threshold -> 1.0` `left Reprojection Error: 0.272796` `Reprojection error threshold -> 1.1111111111111112` `middle Reprojection Error: 0.302797` ` ['high epipolar error between left and middle']` `py: DONE.`

The Main Goal was to use align depth output for obstacle avoidance application. Initially I tried connecting only CAM_A and calibrating it first, then connected CAM_B and CAM_C and calibrated only CAM_B and CAM_C. Basic Stereo depth and CAM_A undistorted RGB output. But when align depth is tried to be used, it ends up with error of no extrinsic between selected camera sockets. CAM_A will be used for RGB camera feed with Camera feed rotated. CAM_B and CAM_C will be used as stereo and for depth estimation with Greyscale output from each camera.

Hey @"ShreyasK"#3488 - You’re running into a calibration issue between the wide RGB (CAM_A) and the left mono, not a tool problem. The stereo pair itself looks good; only the left and middle epipolar error is huge, so there’s no valid extrinsic for align-depth to use with CAM_A. In your JSON the baselines are basically zero (numbers are mm!) and the 180° roll is on the wrong camera, so the solver starts from a bad prior and drifts. I’d update the JSON with realistic center-to-center distances (in mm), put the 180° roll on the actually rotated wide sensor (CAM_A) or just zero all rotations, and make sure the resolutions match your runtime (e.g. 1280×800 for OV9782). Then rerun a single 3-camera calibration with plenty of Charuco views where the board is clearly visible in all three cams, flash that calibration, and afterwards stereo.setDepthAlign(dai.CameraBoardSocket.CAM_A) should work. Thanks, Oskar

Here is the simple preview of my camera setup: CMD Output: ``` python3 cam_test.py --cameras rgb,c right,m left,m DepthAI version: 3.1.0.dev0+89fd1e837fe1c64e8250036ccc6ec7fcd706ad6e DepthAI path: /home/vt008/.local/lib/python3.8/site-packages/depthai.cpython-38-x86_64-linux-gnu.so Enabled cameras: rgb : color right : mono left : mono CAM: rgb CAM: right CAM: left Connected cameras: -socket CAM_A : OV9782 1280 x 800 focus:fixed - COLOR MONO -socket CAM_B : OV9282 1280 x 800 focus:fixed - MONO COLOR -socket CAM_C : OV9282 1280 x 800 focus:fixed - MONO COLOR USB speed: SUPER Cam: rgb right left [host | capture timestamp] FPS: 30.21| 30.00 29.96| 30.00 29.96| 30.00 ``` Left: [upl-image-preview uuid=eaaf1d64-bce9-44ed-a017-d39c65d420c6 url=https://discuss.luxonis.com/assets/files/2025-12-01/1764582086-121313-screenshot-from-2025-12-01-15-09-19.png alt={TEXT?}] Right: [upl-image-preview uuid=28dd3fc8-40e3-47fb-a14d-6fa3543c8047 url=https://discuss.luxonis.com/assets/files/2025-12-01/1764582123-641240-screenshot-from-2025-12-01-15-09-29.png alt={TEXT?}] RGB: [upl-image-preview uuid=8f99d39d-eb61-4d3c-84c8-f7be390c1b40 url=https://discuss.luxonis.com/assets/files/2025-12-01/1764582137-94143-screenshot-from-2025-12-01-15-09-47.png alt={TEXT?}] We brought Cameras from LUXINOS store so for RIGHT and LEFT: https://shop.luxonis.com/products/oak-ffc-ov9782-ff?_pos=2&_sid=0898d0ffc&_ss=r For RGB: https://shop.luxonis.com/products/oak-ffc-ov9782-w?_pos=1&_sid=0898d0ffc&_ss=r With regard to the calibration process, I have followed the steps recommended in the calibration guide. Board distances were almost as specified in the guide, even angels, coverage and number of frames were according to the guide.

Here is the commands: 1. `python3 calibrate.py -s 4.440 -nx 13 -ny 7 -brd OAK-FFC-4P-3Cam.json` 2. `python3 calibrate.py -s 4.440 -nx 13 -ny 7 -brd OAK-FFC-4P-3Cam.json -mdmp 0.2 -c 5` 1st one is less number of images and all cmd outputs are previously shared. 2nd one is higher images of 65 in total.

@"ShreyasK"#3488 could you please send the dataset? Thanks, Oskar

Help Fix High Epipolar Error

OskarSonc

Hey @ShreyasK - JSON and baselines look fine now, and calibrating at 640×400 (same as runtime) is correct. Since B and C epipolar error is good and only A and B is bad, this still points to calibration data quality – you need plenty of frames where the Charuco board is large and clearly visible in both CAM_A and CAM_B.

Can you confirm that all three cameras look normal in a simple preview (no obvious distortion or focus issues), and that you followed the steps from our manual calibration guide (board distance, angles, coverage, number of frames, etc.)?

ShreyasK

Here is the simple preview of my camera setup:
CMD Output:

python3 cam_test.py --cameras rgb,c right,m left,m
DepthAI version: 3.1.0.dev0+89fd1e837fe1c64e8250036ccc6ec7fcd706ad6e
DepthAI path: /home/vt008/.local/lib/python3.8/site-packages/depthai.cpython-38-x86_64-linux-gnu.so
Enabled cameras:
    rgb : color
  right : mono
   left : mono
CAM:  rgb
CAM:  right
CAM:  left
Connected cameras:
 -socket CAM_A : OV9782 1280 x  800 focus:fixed - COLOR MONO
 -socket CAM_B : OV9282 1280 x  800 focus:fixed - MONO COLOR
 -socket CAM_C : OV9282 1280 x  800 focus:fixed - MONO COLOR
USB speed: SUPER
Cam:      rgb           right         left     [host | capture timestamp]
FPS:  30.21| 30.00  29.96| 30.00  29.96| 30.00

Left:

Right:

RGB:

We brought Cameras from LUXINOS store so
for RIGHT and LEFT: https://shop.luxonis.com/products/oak-ffc-ov9782-ff?_pos=2&_sid=0898d0ffc&_ss=r
For RGB: https://shop.luxonis.com/products/oak-ffc-ov9782-w?_pos=1&_sid=0898d0ffc&_ss=r

With regard to the calibration process, I have followed the steps recommended in the calibration guide.
Board distances were almost as specified in the guide, even angels, coverage and number of frames were according to the guide.

ShreyasK

I even tried increasing the number of images by increasing the number of images per polygon to 5.
But still the issue is the same.
If possible, I can DM you the dataset on where I could be going wrong so, it would be a great input to exit of this issue asap.

OskarSonc

Hey @ShreyasK - everything you send looks normal...
Could you paste the exact calibrate.py command you’re running (full arguments)?
Thanks,
Oskar

ShreyasK

Here is the commands:

python3 calibrate.py -s 4.440 -nx 13 -ny 7 -brd OAK-FFC-4P-3Cam.json
python3 calibrate.py -s 4.440 -nx 13 -ny 7 -brd OAK-FFC-4P-3Cam.json -mdmp 0.2 -c 5

1st one is less number of images and all cmd outputs are previously shared.
2nd one is higher images of 65 in total.

OskarSonc

@ShreyasK could you please send the dataset?

Thanks,
Oskar

ShreyasK

Please share a contact email or something similar so I can share you the dataset.
Due to wide angle camera, there are a lot of non required information captured in the images. So It would be better if I share it directly to you, and you can share the review here. Sorry for the inconvenience.

Even I had to add these two lines long back in calibrate.py as resolutions were not supported for 640*400 which is still a default resolution mentioned by oak :

'OV9282' : dai.MonoCameraProperties.SensorResolution.THE_400_P,
'OV9782' : dai.MonoCameraProperties.SensorResolution.THE_800_P,

OskarSonc

Hey @ShreyasK — thanks for the details. One thing that stands out is the change you made in calibrate.py adding OV9782 into camToMonoRes. OV9782 is a color sensor, so putting it in the mono map can definitely break the calibration flow. It’s also best to run calibration at the sensor’s native resolution without modifying these maps.

Could you revert to the unmodified script and try again using the original calibrate.py?
If you get the same error as before, you can send me the dataset to this email: oskar.sonc@luxonis.com)
Thanks,
Oskar

ShreyasK

In the previous conversations u said that "calibrating in the calibrating at 640×400 (same as runtime) is correct" but may i know reason why its said to be a problem now?
And end of the day i will be using the oak camera setup only with 640*400 and in grayscale onnly..and the middle camera will be in rgb. So can you please confirm calibrating on any resoltuion and using the same in application usecase will not be a problem right?

Sure will try doing above suggested methodology and will revert you back soon.

ShreyasK

I went ahead with the calibration process unmodifing the calibrate.py file.
And the error actually doubled:

<------------Calibrating right ------------>
INTRINSIC CALIBRATION
Reprojection error of right: 0.5616561359552541
<------------Calibrating left ------------>
INTRINSIC CALIBRATION
Reprojection error of left: 0.6199033958840741
<------------Calibrating middle ------------>
INTRINSIC CALIBRATION
Reprojection error of middle: 0.33464286283208006
<-------------Extrinsics calibration of right and left ------------>
Reprojection error is 0.5686669890648269
<-------------Epipolar error of right and left ------------>
Original intrinsics ....
L [[801.60055255   0.         652.811004  ]
 [  0.         801.4831148  407.94876145]
 [  0.           0.           1.        ]]
R: [[788.10906573   0.         598.50354531]
 [  0.         788.49619616 402.66234271]
 [  0.           0.           1.        ]]
Intrinsics from the getOptimalNewCameraMatrix/Original ....
L: [[788.10906573   0.         598.50354531]
 [  0.         788.49619616 402.66234271]
 [  0.           0.           1.        ]]
R: [[788.10906573   0.         598.50354531]
 [  0.         788.49619616 402.66234271]
 [  0.           0.           1.        ]]
Average Epipolar Error is : 0.3308381472882331
Displaying Stereo Pair for visual inspection. Press the [ESC] key to exit.
<-------------Extrinsics calibration of middle and left ------------>
Reprojection error is 0.9678914635767464
<-------------Epipolar error of middle and left ------------>
Original intrinsics ....
L [[565.51740637   0.         623.89901022]
 [  0.         565.61691852 395.50916283]
 [  0.           0.           1.        ]]
R: [[788.10906573   0.         598.50354531]
 [  0.         788.49619616 402.66234271]
 [  0.           0.           1.        ]]
Intrinsics from the getOptimalNewCameraMatrix/Original ....
L: [[788.10906573   0.         598.50354531]
 [  0.         788.49619616 402.66234271]
 [  0.           0.           1.        ]]
R: [[788.10906573   0.         598.50354531]
 [  0.         788.49619616 402.66234271]
 [  0.           0.           1.        ]]
Average Epipolar Error is : 47.70712872454812
Displaying Stereo Pair for visual inspection. Press the [ESC] key to exit.
Reprojection error threshold -> 1.1111111111111112
right Reprojection Error: 0.561656
Reprojection error threshold -> 1.1111111111111112
left Reprojection Error: 0.619903
Reprojection error threshold -> 1.1111111111111112
middle Reprojection Error: 0.334643
 ['high epipolar error between middle and left']
py: DONE.

I will be sharing with you all the calibration sets recorded.

OskarSonc

@ShreyasK Thank you

ShreyasK

I have shared the dataset with you so please check the same and help me fix this issue asap.

ShreyasK

@OskarSonc Hi sir,
Any info on the dataset?
Have u reviewed the dataset, Do I need to change something?

OskarSonc

@ShreyasK sorry for the wait. It was sent to the calibration team and I haven't got the answer yet.... Will let you know asap...

ShreyasK

Sure sure sir @OskarSonc ..

ShreyasK

Hi @OskarSonc sir,
any update from the calibration team.

OskarSonc

ShreyasK - the calibration team got access to the files today, so not yet... They are checking it as we speak...

ShreyasK

I had given view access long back, as view access gives permission to download the files.
Once you get info from calibration team, Please let me know what could be improved?

OskarSonc

Hey @ShreyasK – one more thing we’d like to check is the exact versions you’re using, because the log you pasted (reproj ≈0.96 but internal epipolar ≈47 px) looks like behavior from an older calibration flow that was recently changed/removed.

Could you please send the git hashes of both the depthai repo and the depthai_calibration submodule?

Then update everything to the latest:

git fetch
git pull
git submodule update --init --recursive

If you still have the dataset saved, you can rerun calibration just on those images with:

python3 calibrate.py -nx 13 -ny 7 -s 4.44 -ms 3.3 -m process -brd OAK-FFC-4P-3Cam.json

This will only process the existing dataset. Please paste the new terminal output if the error still persist...

ShreyasK

Heres the information of git hashes:

vt008@vt008:~/OAK_Space/depthai$ git log -n 1
commit 09355a835662dedad3cee6a662d038e4086f30bc (HEAD -> main, origin/main, origin/HEAD)
Merge: 555eb317 c46ac526
Author: Matic Tonin <77620080+MaticTonin@users.noreply.github.com>
Date:   Wed Nov 5 12:03:53 2025 +0100

    Merge pull request #1241 from luxonis/dev_mt_updateLatest
    
    Update all to latest version
vt008@vt008:~/OAK_Space/depthai$ git rev-parse HEAD
09355a835662dedad3cee6a662d038e4086f30bc
vt008@vt008:~/OAK_Space/depthai$ git show
commit 09355a835662dedad3cee6a662d038e4086f30bc (HEAD -> main, origin/main, origin/HEAD)
Merge: 555eb317 c46ac526
Author: Matic Tonin <77620080+MaticTonin@users.noreply.github.com>
Date:   Wed Nov 5 12:03:53 2025 +0100

    Merge pull request #1241 from luxonis/dev_mt_updateLatest
    
    Update all to latest version
vt008@vt008:~/OAK_Space/depthai/depthai_calibration$ git rev-parse HEAD
524952bc0de2f1b9d9bb19327f6fdfa1ace7a8a2
vt008@vt008:~/OAK_Space/depthai$ git fetch
vt008@vt008:~/OAK_Space/depthai$ git pull
Already up to date.
vt008@vt008:~/OAK_Space/depthai$ git submodule update --init --recursive
Submodule path 'depthai_calibration': checked out 'b18ab9e40a8756c1b318da1bbecb2b3407e14463'
Submodule path 'resources/depthai_boards': checked out '21b7b398821e63136d17754ef0a877b48d3a3680'

(venv2) vt008@vt008:~/OAK_Space/depthai$ python3 install_requirements.py 
pip 25.0.1 from /home/vt008/OAK_Space/depthai/venv2/lib/python3.8/site-packages/pip (python 3.8)
Requirement already satisfied: pip in ./venv2/lib/python3.8/site-packages (25.0.1)
WARNING: Skipping opencv-python as it is not installed.
Found existing installation: opencv-contrib-python 4.5.5.62
Uninstalling opencv-contrib-python-4.5.5.62:
  Successfully uninstalled opencv-contrib-python-4.5.5.62
Found existing installation: depthai 2.30.0.0
Uninstalling depthai-2.30.0.0:
  Successfully uninstalled depthai-2.30.0.0
Looking in indexes: https://pypi.org/simple, https://www.piwheels.org/simple, https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/wheels/, https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local/
Collecting requests==2.26.0 (from -r requirements.txt (line 1))
  Using cached https://www.piwheels.org/simple/requests/requests-2.26.0-py2.py3-none-any.whl (62 kB)
Requirement already satisfied: numpy<2.0.0,>=1.21.4 in ./venv2/lib/python3.8/site-packages (from -r requirements.txt (line 3)) (1.24.4)
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  Using cached opencv_contrib_python-4.5.5.62-cp36-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl.metadata (18 kB)
Requirement already satisfied: pyqt5<5.15.6,>5 in ./venv2/lib/python3.8/site-packages (from -r requirements.txt (line 6)) (5.15.5)
Collecting depthai==2.30.0.0 (from -r requirements.txt (line 8))
  Using cached depthai-2.30.0.0-cp38-cp38-manylinux_2_28_x86_64.whl.metadata (8.7 kB)
Requirement already satisfied: Qt.py in ./venv2/lib/python3.8/site-packages (from -r requirements.txt (line 9)) (1.4.8)
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Using cached depthai-2.30.0.0-cp38-cp38-manylinux_2_28_x86_64.whl (14.1 MB)
Installing collected packages: requests, opencv-contrib-python, depthai
  Attempting uninstall: requests
    Found existing installation: requests 2.32.4
    Uninstalling requests-2.32.4:
      Successfully uninstalled requests-2.32.4
ERROR: pip's dependency resolver does not currently take into account all the packages that are installed. This behaviour is the source of the following dependency conflicts.
jupyterlab-server 2.27.3 requires requests>=2.31, but you have requests 2.26.0 which is incompatible.
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Requirement already satisfied: notebook in ./venv2/lib/python3.8/site-packages (from open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (7.3.3)
Requirement already satisfied: numpy in ./venv2/lib/python3.8/site-packages (from open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (1.24.4)
Requirement already satisfied: matplotlib in ./venv2/lib/python3.8/site-packages (from open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (3.7.5)
Requirement already satisfied: certifi in ./venv2/lib/python3.8/site-packages (from sentry-sdk==1.14.0->-r requirements-optional.txt (line 4)) (2025.7.14)
Requirement already satisfied: urllib3>=1.26.11 in ./venv2/lib/python3.8/site-packages (from sentry-sdk==1.14.0->-r requirements-optional.txt (line 4)) (1.26.20)
Requirement already satisfied: lz4 in ./venv2/lib/python3.8/site-packages (from rosbags==0.9.11->-r requirements-optional.txt (line 9)) (4.3.3)
Requirement already satisfied: ruamel.yaml in ./venv2/lib/python3.8/site-packages (from rosbags==0.9.11->-r requirements-optional.txt (line 9)) (0.18.14)
Requirement already satisfied: zstandard in ./venv2/lib/python3.8/site-packages (from rosbags==0.9.11->-r requirements-optional.txt (line 9)) (0.23.0)
Requirement already satisfied: comm>=0.1.3 in ./venv2/lib/python3.8/site-packages (from ipywidgets->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (0.2.3)
Requirement already satisfied: ipython>=6.1.0 in ./venv2/lib/python3.8/site-packages (from ipywidgets->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (8.12.3)
Requirement already satisfied: traitlets>=4.3.1 in ./venv2/lib/python3.8/site-packages (from ipywidgets->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (5.14.3)
Requirement already satisfied: jupyterlab_widgets~=3.0.15 in ./venv2/lib/python3.8/site-packages (from ipywidgets->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (3.0.15)
Requirement already satisfied: contourpy>=1.0.1 in ./venv2/lib/python3.8/site-packages (from matplotlib->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (1.1.1)
Requirement already satisfied: cycler>=0.10 in ./venv2/lib/python3.8/site-packages (from matplotlib->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (0.12.1)
Requirement already satisfied: fonttools>=4.22.0 in ./venv2/lib/python3.8/site-packages (from matplotlib->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (4.57.0)
Requirement already satisfied: kiwisolver>=1.0.1 in ./venv2/lib/python3.8/site-packages (from matplotlib->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (1.4.7)
Requirement already satisfied: packaging>=20.0 in ./venv2/lib/python3.8/site-packages (from matplotlib->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (25.0)
Requirement already satisfied: pillow>=6.2.0 in ./venv2/lib/python3.8/site-packages (from matplotlib->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (10.4.0)
Requirement already satisfied: pyparsing>=2.3.1 in ./venv2/lib/python3.8/site-packages (from matplotlib->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (3.1.4)
Requirement already satisfied: python-dateutil>=2.7 in ./venv2/lib/python3.8/site-packages (from matplotlib->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (2.9.0.post0)
Requirement already satisfied: importlib-resources>=3.2.0 in ./venv2/lib/python3.8/site-packages (from matplotlib->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (6.4.5)
Requirement already satisfied: jupyter-server<3,>=2.4.0 in ./venv2/lib/python3.8/site-packages (from notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (2.14.2)
Requirement already satisfied: jupyterlab-server<3,>=2.27.1 in ./venv2/lib/python3.8/site-packages (from notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (2.27.3)
Requirement already satisfied: jupyterlab<4.4,>=4.3.6 in ./venv2/lib/python3.8/site-packages (from notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (4.3.8)
Requirement already satisfied: notebook-shim<0.3,>=0.2 in ./venv2/lib/python3.8/site-packages (from notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (0.2.4)
Requirement already satisfied: tornado>=6.2.0 in ./venv2/lib/python3.8/site-packages (from notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (6.4.2)
Requirement already satisfied: ruamel.yaml.clib>=0.2.7 in ./venv2/lib/python3.8/site-packages (from ruamel.yaml->rosbags==0.9.11->-r requirements-optional.txt (line 9)) (0.2.8)
Requirement already satisfied: zipp>=3.1.0 in ./venv2/lib/python3.8/site-packages (from importlib-resources>=3.2.0->matplotlib->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (3.20.2)
Requirement already satisfied: backcall in ./venv2/lib/python3.8/site-packages (from ipython>=6.1.0->ipywidgets->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (0.2.0)
Requirement already satisfied: decorator in ./venv2/lib/python3.8/site-packages (from ipython>=6.1.0->ipywidgets->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (5.2.1)
Requirement already satisfied: jedi>=0.16 in ./venv2/lib/python3.8/site-packages (from ipython>=6.1.0->ipywidgets->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (0.19.2)
Requirement already satisfied: matplotlib-inline in ./venv2/lib/python3.8/site-packages (from ipython>=6.1.0->ipywidgets->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (0.1.7)
Requirement already satisfied: pickleshare in ./venv2/lib/python3.8/site-packages (from ipython>=6.1.0->ipywidgets->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (0.7.5)
Requirement already satisfied: prompt-toolkit!=3.0.37,<3.1.0,>=3.0.30 in ./venv2/lib/python3.8/site-packages (from ipython>=6.1.0->ipywidgets->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (3.0.51)
Requirement already satisfied: pygments>=2.4.0 in ./venv2/lib/python3.8/site-packages (from ipython>=6.1.0->ipywidgets->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (2.19.2)
Requirement already satisfied: stack-data in ./venv2/lib/python3.8/site-packages (from ipython>=6.1.0->ipywidgets->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (0.6.3)
Requirement already satisfied: typing-extensions in ./venv2/lib/python3.8/site-packages (from ipython>=6.1.0->ipywidgets->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (4.13.2)
Requirement already satisfied: pexpect>4.3 in ./venv2/lib/python3.8/site-packages (from ipython>=6.1.0->ipywidgets->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (4.9.0)
Requirement already satisfied: anyio>=3.1.0 in ./venv2/lib/python3.8/site-packages (from jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (4.5.2)
Requirement already satisfied: argon2-cffi>=21.1 in ./venv2/lib/python3.8/site-packages (from jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (25.1.0)
Requirement already satisfied: jinja2>=3.0.3 in ./venv2/lib/python3.8/site-packages (from jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (3.1.6)
Requirement already satisfied: jupyter-client>=7.4.4 in ./venv2/lib/python3.8/site-packages (from jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (8.6.3)
Requirement already satisfied: jupyter-core!=5.0.*,>=4.12 in ./venv2/lib/python3.8/site-packages (from jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (5.8.1)
Requirement already satisfied: jupyter-events>=0.9.0 in ./venv2/lib/python3.8/site-packages (from jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (0.10.0)
Requirement already satisfied: jupyter-server-terminals>=0.4.4 in ./venv2/lib/python3.8/site-packages (from jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (0.5.3)
Requirement already satisfied: nbconvert>=6.4.4 in ./venv2/lib/python3.8/site-packages (from jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (7.16.6)
Requirement already satisfied: nbformat>=5.3.0 in ./venv2/lib/python3.8/site-packages (from jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (5.10.4)
Requirement already satisfied: overrides>=5.0 in ./venv2/lib/python3.8/site-packages (from jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (7.7.0)
Requirement already satisfied: prometheus-client>=0.9 in ./venv2/lib/python3.8/site-packages (from jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (0.21.1)
Requirement already satisfied: pyzmq>=24 in ./venv2/lib/python3.8/site-packages (from jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (27.0.0)
Requirement already satisfied: send2trash>=1.8.2 in ./venv2/lib/python3.8/site-packages (from jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (1.8.3)
Requirement already satisfied: terminado>=0.8.3 in ./venv2/lib/python3.8/site-packages (from jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (0.18.1)
Requirement already satisfied: websocket-client>=1.7 in ./venv2/lib/python3.8/site-packages (from jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (1.8.0)
Requirement already satisfied: async-lru>=1.0.0 in ./venv2/lib/python3.8/site-packages (from jupyterlab<4.4,>=4.3.6->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (2.0.4)
Requirement already satisfied: httpx>=0.25.0 in ./venv2/lib/python3.8/site-packages (from jupyterlab<4.4,>=4.3.6->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (0.28.1)
Requirement already satisfied: importlib-metadata>=4.8.3 in ./venv2/lib/python3.8/site-packages (from jupyterlab<4.4,>=4.3.6->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (8.5.0)
Requirement already satisfied: ipykernel>=6.5.0 in ./venv2/lib/python3.8/site-packages (from jupyterlab<4.4,>=4.3.6->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (6.29.5)
Requirement already satisfied: jupyter-lsp>=2.0.0 in ./venv2/lib/python3.8/site-packages (from jupyterlab<4.4,>=4.3.6->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (2.2.6)
Requirement already satisfied: setuptools>=41.1.0 in ./venv2/lib/python3.8/site-packages (from jupyterlab<4.4,>=4.3.6->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (44.0.0)
Requirement already satisfied: tomli>=1.2.2 in ./venv2/lib/python3.8/site-packages (from jupyterlab<4.4,>=4.3.6->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (2.2.1)
Requirement already satisfied: babel>=2.10 in ./venv2/lib/python3.8/site-packages (from jupyterlab-server<3,>=2.27.1->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (2.17.0)
Requirement already satisfied: json5>=0.9.0 in ./venv2/lib/python3.8/site-packages (from jupyterlab-server<3,>=2.27.1->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (0.12.0)
Requirement already satisfied: jsonschema>=4.18.0 in ./venv2/lib/python3.8/site-packages (from jupyterlab-server<3,>=2.27.1->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (4.23.0)
Collecting requests>=2.31 (from jupyterlab-server<3,>=2.27.1->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1))
  Using cached requests-2.32.4-py3-none-any.whl.metadata (4.9 kB)
Requirement already satisfied: six>=1.5 in ./venv2/lib/python3.8/site-packages (from python-dateutil>=2.7->matplotlib->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (1.17.0)
Requirement already satisfied: idna>=2.8 in ./venv2/lib/python3.8/site-packages (from anyio>=3.1.0->jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (3.10)
Requirement already satisfied: sniffio>=1.1 in ./venv2/lib/python3.8/site-packages (from anyio>=3.1.0->jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (1.3.1)
Requirement already satisfied: exceptiongroup>=1.0.2 in ./venv2/lib/python3.8/site-packages (from anyio>=3.1.0->jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (1.3.0)
Requirement already satisfied: argon2-cffi-bindings in ./venv2/lib/python3.8/site-packages (from argon2-cffi>=21.1->jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (21.2.0)
Requirement already satisfied: pytz>=2015.7 in ./venv2/lib/python3.8/site-packages (from babel>=2.10->jupyterlab-server<3,>=2.27.1->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (2025.2)
Requirement already satisfied: httpcore==1.* in ./venv2/lib/python3.8/site-packages (from httpx>=0.25.0->jupyterlab<4.4,>=4.3.6->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (1.0.9)
Requirement already satisfied: h11>=0.16 in ./venv2/lib/python3.8/site-packages (from httpcore==1.*->httpx>=0.25.0->jupyterlab<4.4,>=4.3.6->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (0.16.0)
Requirement already satisfied: debugpy>=1.6.5 in ./venv2/lib/python3.8/site-packages (from ipykernel>=6.5.0->jupyterlab<4.4,>=4.3.6->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (1.8.15)
Requirement already satisfied: nest-asyncio in ./venv2/lib/python3.8/site-packages (from ipykernel>=6.5.0->jupyterlab<4.4,>=4.3.6->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (1.6.0)
Requirement already satisfied: psutil in ./venv2/lib/python3.8/site-packages (from ipykernel>=6.5.0->jupyterlab<4.4,>=4.3.6->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (7.0.0)
Requirement already satisfied: parso<0.9.0,>=0.8.4 in ./venv2/lib/python3.8/site-packages (from jedi>=0.16->ipython>=6.1.0->ipywidgets->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (0.8.4)
Requirement already satisfied: MarkupSafe>=2.0 in ./venv2/lib/python3.8/site-packages (from jinja2>=3.0.3->jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (2.1.5)
Requirement already satisfied: attrs>=22.2.0 in ./venv2/lib/python3.8/site-packages (from jsonschema>=4.18.0->jupyterlab-server<3,>=2.27.1->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (25.3.0)
Requirement already satisfied: jsonschema-specifications>=2023.03.6 in ./venv2/lib/python3.8/site-packages (from jsonschema>=4.18.0->jupyterlab-server<3,>=2.27.1->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (2023.12.1)
Requirement already satisfied: pkgutil-resolve-name>=1.3.10 in ./venv2/lib/python3.8/site-packages (from jsonschema>=4.18.0->jupyterlab-server<3,>=2.27.1->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (1.3.10)
Requirement already satisfied: referencing>=0.28.4 in ./venv2/lib/python3.8/site-packages (from jsonschema>=4.18.0->jupyterlab-server<3,>=2.27.1->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (0.35.1)
Requirement already satisfied: rpds-py>=0.7.1 in ./venv2/lib/python3.8/site-packages (from jsonschema>=4.18.0->jupyterlab-server<3,>=2.27.1->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (0.20.1)
Requirement already satisfied: platformdirs>=2.5 in ./venv2/lib/python3.8/site-packages (from jupyter-core!=5.0.*,>=4.12->jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (4.3.6)
Requirement already satisfied: python-json-logger>=2.0.4 in ./venv2/lib/python3.8/site-packages (from jupyter-events>=0.9.0->jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (3.3.0)
Requirement already satisfied: pyyaml>=5.3 in ./venv2/lib/python3.8/site-packages (from jupyter-events>=0.9.0->jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (6.0.2)
Requirement already satisfied: rfc3339-validator in ./venv2/lib/python3.8/site-packages (from jupyter-events>=0.9.0->jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (0.1.4)
Requirement already satisfied: rfc3986-validator>=0.1.1 in ./venv2/lib/python3.8/site-packages (from jupyter-events>=0.9.0->jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (0.1.1)
Requirement already satisfied: beautifulsoup4 in ./venv2/lib/python3.8/site-packages (from nbconvert>=6.4.4->jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (4.13.4)
Requirement already satisfied: bleach!=5.0.0 in ./venv2/lib/python3.8/site-packages (from bleach[css]!=5.0.0->nbconvert>=6.4.4->jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (6.1.0)
Requirement already satisfied: defusedxml in ./venv2/lib/python3.8/site-packages (from nbconvert>=6.4.4->jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (0.7.1)
Requirement already satisfied: jupyterlab-pygments in ./venv2/lib/python3.8/site-packages (from nbconvert>=6.4.4->jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (0.3.0)
Requirement already satisfied: mistune<4,>=2.0.3 in ./venv2/lib/python3.8/site-packages (from nbconvert>=6.4.4->jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (3.1.3)
Requirement already satisfied: nbclient>=0.5.0 in ./venv2/lib/python3.8/site-packages (from nbconvert>=6.4.4->jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (0.10.1)
Requirement already satisfied: pandocfilters>=1.4.1 in ./venv2/lib/python3.8/site-packages (from nbconvert>=6.4.4->jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (1.5.1)
Requirement already satisfied: fastjsonschema>=2.15 in ./venv2/lib/python3.8/site-packages (from nbformat>=5.3.0->jupyter-server<3,>=2.4.0->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (2.21.1)
Requirement already satisfied: ptyprocess>=0.5 in ./venv2/lib/python3.8/site-packages (from pexpect>4.3->ipython>=6.1.0->ipywidgets->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (0.7.0)
Requirement already satisfied: wcwidth in ./venv2/lib/python3.8/site-packages (from prompt-toolkit!=3.0.37,<3.1.0,>=3.0.30->ipython>=6.1.0->ipywidgets->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (0.2.13)
Requirement already satisfied: charset_normalizer<4,>=2 in ./venv2/lib/python3.8/site-packages (from requests>=2.31->jupyterlab-server<3,>=2.27.1->notebook->open3d==0.10.0.0->-r requirements-optional.txt (line 1)) (2.0.12)
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Using cached requests-2.32.4-py3-none-any.whl (64 kB)
Installing collected packages: requests
  Attempting uninstall: requests
    Found existing installation: requests 2.26.0
    Uninstalling requests-2.26.0:
      Successfully uninstalled requests-2.26.0
Successfully installed requests-2.32.4
(venv2) vt008@vt008:~/OAK_Space/depthai$ python3 cal
calibrate.py  callbacks.py  
(venv2) vt008@vt008:~/OAK_Space/depthai$ python3 cal
calibrate.py  callbacks.py  
(venv2) vt008@vt008:~/OAK_Space/depthai$ python3 calibrate.py -nx 13 -ny 7 -s 4.44 -ms 3.3 -m process -brd OAK-FFC-4P-3Cam.json
Traceback (most recent call last):
  File "calibrate.py", line 1181, in <module>
    Main().run()
  File "calibrate.py", line 361, in __init__
    self.device = dai.Device()
RuntimeError: Cannot find any device with given deviceInfo
(venv2) vt008@vt008:~/OAK_Space/depthai$ python3 calibrate.py -nx 13 -ny 7 -s 4.44 -ms 3.3 -m process -brd OAK-FFC-4P-3Cam.json
Cam: middle and focus: False
Cam: left and focus: False
Cam: right and focus: False
Using dataset path: dataset
Starting image processing
<------------Calibrating right ------------>
INTRINSIC CALIBRATION
Filtering corners
5
Pose estimation 0, 0.013715744018554688s
Pose estimation 1, 0.0008447170257568359s
Pose estimation 2, 0.0007445812225341797s
Pose estimation 3, 0.0014767646789550781s
Pose estimation 4, 0.0014162063598632812s
Pose estimation 5, 0.001493215560913086s
Pose estimation 6, 0.000720977783203125s
Pose estimation 7, 0.003096342086791992s
Pose estimation 8, 0.0007557868957519531s
Pose estimation 9, 0.0007338523864746094s
Pose estimation 10, 0.001134634017944336s
Pose estimation 11, 0.0012717247009277344s
Pose estimation 12, 0.002259492874145508s
Pose estimation 13, 0.0014827251434326172s
Pose estimation 14, 0.0008060932159423828s
Pose estimation 15, 0.0008134841918945312s
Pose estimation 16, 0.0013537406921386719s
Pose estimation 17, 0.0015058517456054688s
Pose estimation 18, 0.0006794929504394531s
Pose estimation 19, 0.0007164478302001953s
Pose estimation 20, 0.002005338668823242s
Pose estimation 21, 0.0009593963623046875s
Pose estimation 22, 0.001238107681274414s
Pose estimation 23, 0.0011749267578125s
Pose estimation 24, 0.0007998943328857422s
Pose estimation 25, 0.0027570724487304688s
Pose estimation 26, 0.0013728141784667969s
Pose estimation 27, 0.0012819766998291016s
Pose estimation 28, 0.0012519359588623047s
Pose estimation 29, 0.0006568431854248047s
Pose estimation 30, 0.0007989406585693359s
Pose estimation 31, 0.0007984638214111328s
Pose estimation 32, 0.0007178783416748047s
Pose estimation 33, 0.0014867782592773438s
Pose estimation 34, 0.0018537044525146484s
Pose estimation 35, 0.0007946491241455078s
Pose estimation 36, 0.0007910728454589844s
Pose estimation 37, 0.0007843971252441406s
Pose estimation 38, 0.0013194084167480469s
Overall pose estimation 0.06048989295959473s
Use DEFAULT model
Filtering 0.5838587284088135s
Filtering takes: 2.020965337753296
Use DEFAULT model
Each filtering 0.5673022270202637
Each calibration 1.2750110626220703
Each filtering 0.5912041664123535
Each calibration 1.3169114589691162
Each filtering 0.5675604343414307
Each calibration 1.3231861591339111
Whole procedure: 5.650253534317017
Reprojection error of right: 0.3516664874691056
<------------Calibrating left ------------>
INTRINSIC CALIBRATION
Filtering corners
5
Pose estimation 0, 0.0010499954223632812s
Pose estimation 1, 0.0008084774017333984s
Pose estimation 2, 0.0008220672607421875s
Pose estimation 3, 0.0020461082458496094s
Pose estimation 4, 0.0015060901641845703s
Pose estimation 5, 0.0028808116912841797s
Pose estimation 6, 0.002611875534057617s
Pose estimation 7, 0.0014998912811279297s
Pose estimation 8, 0.0018489360809326172s
Pose estimation 9, 0.0017371177673339844s
Pose estimation 10, 0.00139617919921875s
Pose estimation 11, 0.005525350570678711s
Pose estimation 12, 0.0013952255249023438s
Pose estimation 13, 0.0021529197692871094s
Pose estimation 14, 0.002706766128540039s
Pose estimation 15, 0.0012333393096923828s
Pose estimation 16, 0.0009946823120117188s
Pose estimation 17, 0.0017769336700439453s
Pose estimation 18, 0.0011224746704101562s
Pose estimation 19, 0.0006940364837646484s
Pose estimation 20, 0.0016331672668457031s
Pose estimation 21, 0.001055002212524414s
Pose estimation 22, 0.0005178451538085938s
Pose estimation 23, 0.0006759166717529297s
Pose estimation 24, 0.0011048316955566406s
Pose estimation 25, 0.0006306171417236328s
Pose estimation 26, 0.0007615089416503906s
Pose estimation 27, 0.0007481575012207031s
Pose estimation 28, 0.0006666183471679688s
Pose estimation 29, 0.0011944770812988281s
Pose estimation 30, 0.002109050750732422s
Pose estimation 31, 0.0021936893463134766s
Pose estimation 32, 0.0012803077697753906s
Pose estimation 33, 0.001512765884399414s
Pose estimation 34, 0.0007829666137695312s
Pose estimation 35, 0.0007035732269287109s
Pose estimation 36, 0.0020787715911865234s
Pose estimation 37, 0.0007836818695068359s
Pose estimation 38, 0.0007865428924560547s
Overall pose estimation 0.057557106018066406s
Use DEFAULT model
Filtering 0.5839138031005859s
Filtering takes: 1.8205387592315674
Use DEFAULT model
Each filtering 0.5905907154083252
Each calibration 1.0573811531066895
Each filtering 0.5806727409362793
Each calibration 0.939338207244873
Each filtering 0.579216718673706
Each calibration 0.3200364112854004
Whole procedure: 4.068054437637329
Reprojection error of left: 0.4336696283692277
<------------Calibrating middle ------------>
INTRINSIC CALIBRATION
Filtering corners
7
Pose estimation 0, 0.002381563186645508s
Pose estimation 1, 0.002397298812866211s
Pose estimation 2, 0.0023946762084960938s
Pose estimation 3, 0.0019462108612060547s
Pose estimation 4, 0.0034911632537841797s
Pose estimation 5, 0.003989219665527344s
Pose estimation 6, 0.003275632858276367s
Pose estimation 7, 0.0058460235595703125s
Pose estimation 8, 0.0035758018493652344s
Pose estimation 9, 0.0047800540924072266s
Pose estimation 10, 0.003335237503051758s
Pose estimation 11, 0.00900721549987793s
Pose estimation 12, 0.007615327835083008s
Pose estimation 13, 0.01070404052734375s
Pose estimation 14, 0.0029578208923339844s
Pose estimation 15, 0.007130146026611328s
Pose estimation 16, 0.0037767887115478516s
Pose estimation 17, 0.006723165512084961s
Pose estimation 18, 0.0027930736541748047s
Pose estimation 19, 0.0026214122772216797s
Pose estimation 20, 0.005548715591430664s
Pose estimation 21, 0.010717391967773438s
Pose estimation 22, 0.013499259948730469s
Pose estimation 23, 0.010750770568847656s
Pose estimation 24, 0.0034461021423339844s
Pose estimation 25, 0.00922536849975586s
Pose estimation 26, 0.0017251968383789062s
Pose estimation 27, 0.0026607513427734375s
Pose estimation 28, 0.008057355880737305s
Pose estimation 29, 0.001308441162109375s
Pose estimation 30, 0.009376287460327148s
Pose estimation 31, 0.004992008209228516s
Pose estimation 32, 0.002509593963623047s
Pose estimation 33, 0.010463237762451172s
Pose estimation 34, 0.012889385223388672s
Pose estimation 35, 0.003236055374145508s
Pose estimation 36, 0.009816646575927734s
Pose estimation 37, 0.004753828048706055s
Pose estimation 38, 0.002500772476196289s
Overall pose estimation 0.2189934253692627s
Use DEFAULT model
Filtering 1.1389315128326416s
Filtering takes: 2.305931806564331
Use DEFAULT model
Each filtering 1.1429994106292725
Each calibration 1.0116798877716064
Each filtering 1.1442952156066895
Each calibration 0.9887912273406982
Each filtering 1.1391563415527344
Each calibration 0.24586844444274902
Whole procedure: 5.673589468002319
Reprojection error of middle: 0.31735290204878874
<-------------Extrinsics calibration of right and left ------------>
Use DEFAULT model
Epipolar error is 0.32648943567350586
Printing Extrinsics res...
[[ 0.99983287  0.00392429  0.01785602]
 [-0.0044213   0.99960149  0.02788049]
 [-0.01773949 -0.02795477  0.99945177]]
[[5.93598695]
 [0.01595134]
 [0.05802794]]
Euler angles in XYZ [-1.6021514   1.0164514  -0.25336273] degs
<-------------Epipolar error of right and left ------------>
Epipolar error 0.32648943567350586
<-------------Extrinsics calibration of middle and left ------------>
Use DEFAULT model
Epipolar error is 0.8755086528299537
Printing Extrinsics res...
[[-9.99999365e-01 -1.12634274e-03 -3.42808217e-05]
 [ 1.12297949e-03 -9.98614561e-01  5.26089103e-02]
 [-9.34889917e-05  5.26088384e-02  9.98615192e-01]]
[[2.98021235e+00]
 [1.57305475e-03]
 [2.16643136e-02]]
Euler angles in XYZ [3.01565658e+00 5.35652466e-03 1.79935658e+02] degs
<-------------Epipolar error of middle and left ------------>
Epipolar error 0.8755086528299537
Reprojection error threshold -> 1.1111111111111112
right Reprojection Error: 0.351666
Reprojection error threshold -> 1.1111111111111112
left Reprojection Error: 0.433670
Reprojection error threshold -> 1.1111111111111112
middle Reprojection Error: 0.317353
['high epipolar error between middle and left']
py: DONE.

>>> print(depthai.__version__)
2.30.0.0

Tried reinstalling everything in ven2 virtual environment and went ahead with calibration process on the same dataset as shared with u and output with error is shared with u.