[BUG] OAK-D Pro W right mono camera distorted after calibration - Githubissues

luxonis / depthai

DepthAI Python API utilities, examples, and tutorials.

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[BUG] OAK-D Pro W right mono camera distorted after calibration #882

Open ZumWoelkchen opened 1 year ago

ZumWoelkchen commented 1 year ago

What:

It appears that the calibration tool messes up calibration on OAK-D Pro W devices. I reproduced this behavior on two devices with the same result.

The example images below show both left & right mono cameras pointing to the same grid.

left right

How to reproduce:

Check the rectified right mono camera with factory calibration. Should be fine.
Run calibration tool: python3 calibrate.py -s 2.45 -brd BW1098OBC -db After successful calibration check the cameras again. Rectified left should look fine. Rectified right has noticeable circular distortions around the edge of the frame.
I used the included demo application (depthai_demo.py) to verify this behavior.

My calibration board:

Charuco calibration image printed on an A4 paper and glued perfectly flat to a rigid surface.

Erol444 commented 1 year ago

Hi @ZumWoelkchen , I think this is due to current camera model that we are using, which causes such undistortion artifacts. cc @saching13 to confirm.

saching13 commented 1 year ago

Yes. It is coming from RATIONLA POLYNOMIAL model. We will be changing it soon. Sorry for the issue.