Dear Luxonis devs,
I have posted this question to community Discord(1445009426011525213), but seeing how it is fairly inactive I will repeat the question here.
Last Friday, with no changes to hardware configuration or the software in the morning I discovered the camera showing a horizontal one pixel line at the top around the center. See the image. Furthermore, the accuracy has gone way off, at 50 cm it says 54 cm but the depth offset is not linear with distance. I have also observed error exactly like here https://github.com/luxonis/depthai-python/issues/1007#issuecomment-2071210160 on the first run with the camera when I first launched it, but I forgot to save the dump. Before this I have calibrated the sensor using calibration config attached. Note that because the calibration script doesn't work with just one ToF sensor, I had to modify it slightly, so and I added what it generated too.
After some testing:
Some details after testing to add to my problem: I have used factoryResetCalibration and the top black bar disappeared. When I run the script for a while with v2 api I have it crashing with "device has crashed" error. When I run api v3, it crashes when I try to set parameters through tof_cfg_queue.send(S.TOF_INITIAL_CONFIG) where S is settings configuration ([depthai] [error] Communication exception - possible device error/misconfiguration. Original message 'Couldn't read data from stream: 'x_1depth' (X_LINK_ERROR)'), but it does not crash with no configuration, only using socket, preset_mode = dai.CameraBoardSocket.AUTO, dai.ImageFiltersPresetMode.TOF_MID_RANGE. To me this seems like corrupt device driver behaviour, especially given how it worked one day and doesn't work the next with the same code. Specifically the APIs tested were 2.30.0.0 and 3.2.1 from pip on amd64. I would highly appreciate help to reset the device to factory conditions, but to my understanding the device_manager utility will not work here because the device doesn't have flash, or at least that's what it reports.
From calibration tool
{
"batchName": "",
"batchTime": 1756082744,
"boardConf": "nIR-C00M05-00",
"boardCustom": "",
"boardName": "DM1090",
"boardOptions": 0,
"boardRev": "R3M0E3",
"cameraData": [
[
0,
{
"cameraType": 0,
"distortionCoeff": [
-11.072966575622559,
47.998268127441406,
-0.0008138681296259165,
5.760362455475843e-06,
-39.83795166015625,
-11.088227272033691,
47.96234130859375,
-39.42634963989258,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"extrinsics": {
"rotationMatrix": [],
"specTranslation": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": -1,
"translation": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
},
"height": 480,
"intrinsicMatrix": [
[
485.2638854980469,
0.0,
317.0198059082031
],
[
0.0,
484.968017578125,
233.28981018066406
],
[
0.0,
0.0,
1.0
]
],
"lensPosition": 0,
"specHfovDeg": 70.0,
"width": 640
}
]
],
"hardwareConf": "F0-FV00-BC000",
"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-FFC-3P",
"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
},
"version": 7
}
The config used
{
"board_config":
{
"name": "OAK-FFC-3P",
"revision": "R0M0E1",
"cameras":{
"CAM_A": {
"name": "tof",
"sensorName": "S5K33D",
"hfov": 70.00,
"type": "tof"
}
}
}
}
eeprom data
{'batchName': '', 'batchTime': 1756082744, 'boardConf': 'nIR-C00M05-00', 'boardCustom': '', 'boardName': 'DM1090', 'boardOptions': 0, 'boardRev': 'R3M0E3', 'cameraData': [[0, {'cameraType': 0, 'distortionCoeff': [-11.072966575622559, 47.998268127441406, -0.0008138681296259165, 5.760362455475843e-06, -39.83795166015625, -11.088227272033691, 47.96234130859375, -39.42634963989258, 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': 480, 'intrinsicMatrix': [[485.2638854980469, 0.0, 317.0198059082031], [0.0, 484.968017578125, 233.28981018066406], [0.0, 0.0, 1.0]], 'lensPosition': 0, 'specHfovDeg': 70.0, 'width': 640}]], 'deviceName': '', 'hardwareConf': 'F0-FV00-BC000', '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-FFC-3P', '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}
