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

[ZumWoelkchen]

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.

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]

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]

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