Selected device doesn't have any stereo pairs [OAK-D-Lite]

[Beauxrel]

whileusing depthai-viewer the depth settings are greyed out for the Oak-D Lite

Steps to reproduce the behavior:

1. depthai-viewer
2. Missing Depth Settings

I expect to see Depth Settings available

• OS: Pop-os 22.04

[zrezke]

Hello, your device is probably missing a calibration. Could you post the output of calibration_dump.py

[Beauxrel]

Is EEPROM available: True User calibration: { "batchName": "", "batchTime": 0, "boardConf": "", "boardCustom": "", "boardName": "BW1098OBC", "boardOptions": 0, "boardRev": "R0M0E0", "cameraData": [ [ 1, { "cameraType": 0, "distortionCoeff": [ 20.793167114257812, -50.727500915527344, 0.0003436892875470221, 0.00036882871063426137, 308.1456298828125, 20.885591506958008, -53.062870025634766, 313.92022705078125, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "extrinsics": { "rotationMatrix": [ [ 0.999877393245697, -0.003816623007878661, 0.0151876425370574 ], [ 0.0037984729278832674, 0.9999920129776001, 0.001223734114319086 ], [ -0.015192192047834396, -0.00116589420940727, 0.9998838901519775 ] ], "specTranslation": { "x": -7.5, "y": 0.0, "z": 0.0 }, "toCameraSocket": 2, "translation": { "x": -7.378519058227539, "y": 0.06277830898761749, "z": 0.047404833137989044 } }, "height": 800, "intrinsicMatrix": [ [ 853.8489990234375, 0.0, 634.9769287109375 ], [ 0.0, 853.8607788085938, 404.316162109375 ], [ 0.0, 0.0, 1.0 ] ], "lensPosition": 0, "specHfovDeg": 71.86000061035156, "width": 1280 } ], [ 0, { "cameraType": 0, "distortionCoeff": [ 2.0784969329833984, -33.34458541870117, 0.0007293328526429832, -0.0005520779523067176, 172.79798889160156, 1.7424308061599731, -30.984619140625, 166.90390014648438, 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": 1080, "intrinsicMatrix": [ [ 1460.6644287109375, 0.0, 959.00146484375 ], [ 0.0, 1458.81640625, 531.42138671875 ], [ 0.0, 0.0, 1.0 ] ], "lensPosition": 135, "specHfovDeg": 68.7938003540039, "width": 1920 } ], [ 2, { "cameraType": 0, "distortionCoeff": [ 10.010363578796387, -18.30807113647461, 0.00017097257659770548, -0.0002827266580425203, 211.20465087890625, 10.073223114013672, -19.892099380493164, 214.75245666503906, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "extrinsics": { "rotationMatrix": [ [ 0.9999580979347229, 0.004886251874268055, -0.007745699025690556 ], [ -0.004901527892798185, 0.9999861121177673, -0.0019543941598385572 ], [ 0.00773604167625308, 0.001992278266698122, 0.9999680519104004 ] ], "specTranslation": { "x": 3.75, "y": 0.0, "z": 0.0 }, "toCameraSocket": 0, "translation": { "x": 3.6778411865234375, "y": -0.020332952961325645, "z": -0.08972050994634628 } }, "height": 800, "intrinsicMatrix": [ [ 853.6342163085938, 0.0, 636.4781494140625 ], [ 0.0, 853.8646240234375, 408.78961181640625 ], [ 0.0, 0.0, 1.0 ] ], "lensPosition": 0, "specHfovDeg": 71.86000061035156, "width": 1280 } ] ], "deviceName": "", "hardwareConf": "", "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": "", "stereoEnableDistortionCorrection": false, "stereoRectificationData": { "leftCameraSocket": 1, "rectifiedRotationLeft": [ [ 0.9998858571052551, -0.01231661718338728, 0.008752770721912384 ], [ 0.012311049737036228, 0.9999240040779114, 0.0006897457642480731 ], [ -0.008760600350797176, -0.0005819112411700189, 0.9999614357948303 ] ], "rectifiedRotationRight": [ [ 0.999943196773529, -0.00850776955485344, -0.006424343213438988 ], [ 0.008503682911396027, 0.999963641166687, -0.0006631716969422996 ], [ 0.00642975140362978, 0.0006085034692659974, 0.9999791383743286 ] ], "rightCameraSocket": 2 }, "stereoUseSpecTranslation": true, "version": 6, "verticalCameraSocket": -1 } Factory calibration: { "batchName": "", "batchTime": 1705755961, "boardConf": "nIR-C00M00-00", "boardCustom": "", "boardName": "DM9095", "boardOptions": 0, "boardRev": "R3M2E4", "cameraData": [], "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-D-LITE", "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 } User calibration raw: [6, 0, 170, 85, 3, 0, 0, 0, 0, 66, 87, 49, 48, 57, 56, 79, 66, 67, 0, 0, 0, 0, 0, 0, 0, 82, 48, 77, 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[Beauxrel]

@zrezke this is after I flashed the eeprom with depthai_calib.json.

Do you guys have a .json I could use? The chacuro board does not work. I have tried many times, it will put green boxes around the markers and still say it failed.

[Beauxrel]

@zrezke I would also like to note I am getting the depth settings back, but my quality is not good at all

[zrezke]

Hey @Beauxrel ! The calibration is per device.. Your device should have been calibrated when you bought it. Some time ago we started to store factory calibrations for devices, so if you can give me your device' MXID, I can look it up, to see if we have it (but I can't promise we do). For hand calibration issues, perhaps @MaticTonin can give you a tip on how to do it successfully.

[MaticTonin]

Hi. Can I see the log files you got from hand calibration? It seems to me that camera does not have Factory calibration and that the calibration you flashed on device is not good since the resolution of the flashed device.json file is 1200x800 instead of 640x480.

I would suggest you first check which depthai github you are using (suggest using main) and if depthai_calibration (suggest using latest main) is up to date. After that it is important that the chaucos in the coverage image cover the whole field of view and that the -ms (a marker size), -s (a square size), -nx (number of charucos in x-direction) and -ny (number of charucos in y-direction) are written correctly in the command line. Example of a charuco board with square size 5cm and markers size 3.7cm, dimensions 12x9

python3 calibrate.py -s 5 -ms 3.7 -nx 12 -ny 9

If you end up with an epipolar error that is too high (above 0.8 but below 1.5), I suggest using -e 1.5 as an argument as well.

Note: If you don't want to recover the data, you can use -m progress and it will only compute the processing stage of the calibration.

If this does not give meaningful results, you can always contact me.

[Beauxrel]

@zrezke Found device '3.6', MxId: '14442C10B1CB41D400', State: 'UNBOOTED'

[Beauxrel]

@MaticTonin

python3 calibrate.py -s 4.3 -ms 3.3 -nx 13 -ny 7 -brd OAK-D-LITE

Cam: color and focus: True Cam: left and focus: False Cam: right and focus: False Saving dataset to: dataset Sensor name for color is IMX214 Sensor name for left is OV7251 Sensor name for right is OV7251 Starting image capture. Press the [ESC] key to abort. Will take 39 total images. Start capturing... new minimum: {'ts': 0.12755600000000555, 'indicies': {'color': 0, 'left': 0, 'right': 0}} min required: 0.2 new minimum: {'ts': 0.09581000000000017, 'indicies': {'color': 2, 'left': 2, 'right': 2}} min required: 0.2 Time stamp of color is 0:38:46.598404 Markers count ... 0 Total markers needed -> 18 Status of color is False Time stamp of left is 0:38:46.646303 Markers count ... 35 Total markers needed -> 18 py: Saved image as: dataset/left/p0_0.png Status of left is True Time stamp of right is 0:38:46.646316 Markers count ... 38 Total markers needed -> 18 py: Saved image as: dataset/right/p0_0.png Status of right is True py: Capture failed, unable to find chessboard! Fix position and press spacebar again

[Beauxrel]

[MaticTonin]

To me it looks like rgb camera is completely blurry and has wrongly set focus value. For that reason not even one charuco is detected on the board. Can you try firstly disabling the rgb camera in calibration with -dsb rgb or setting the best lens position of rgb camera so the charucos are visible (by changing the argument -rlp rgb=90.

[Beauxrel]

@MaticTonin this did not work.

@zrezke were you able to find my calib? I think I may RMA and buy a new one if you dont have it.

[zrezke]

@Beauxrel I see that the calibration failed in the factory too. Our mistake. Please reach out to support@luxonis.com for a RMA.