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Update StereoNode to facilitate DynamicCalibration for EEPROM v<6 #1523

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Merged
merged 12 commits into from
Nov 14, 2025
+8 −4
Merged

Update StereoNode to facilitate DynamicCalibration for EEPROM v<6 #1523

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0145402
change EEPROM data default for stereoEnableDistortionCorrection to true
lnotspotl Nov 13, 2025
10105fa
issue a warning instead of throwing
lnotspotl Nov 13, 2025
7082cd6
update rvc2 commit hash
lnotspotl Nov 13, 2025
2d0146e
formatting
lnotspotl Nov 13, 2025
536566f
bump rvc2 fw commit hash
lnotspotl Nov 13, 2025
657506a
Update src/pipeline/node/DynamicCalibrationNode.cpp
lnotspotl Nov 14, 2025
9b5f2cf
change defaults
lnotspotl Nov 14, 2025
0aeb2bd
Merge branch 'lnotspotl/setCalibrationDynCalib' of github.com:luxonis…
lnotspotl Nov 14, 2025
b0d29a4
bump rvc2 fw hash
lnotspotl Nov 14, 2025
eb4277e
merge develop in, resolve merge conflicts
lnotspotl Nov 14, 2025
f5b867f
bump rvc2 fw hash
lnotspotl Nov 14, 2025
09c4c36
fix macos integration errors
lnotspotl Nov 14, 2025
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2 changes: 1 addition & 1 deletion cmake/Depthai/DepthaiDeviceSideConfig.cmake
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Expand Up @@ -2,7 +2,7 @@
set(DEPTHAI_DEVICE_SIDE_MATURITY "snapshot")

# "full commit hash of device side binary"
set(DEPTHAI_DEVICE_SIDE_COMMIT "7a638aee617e9932652076ba4a7a1862ed63f186")
set(DEPTHAI_DEVICE_SIDE_COMMIT "fb03f31518376a2102caff9f9a07cc5dd7a1b28f")

# "version if applicable"
set(DEPTHAI_DEVICE_SIDE_VERSION "")
2 changes: 1 addition & 1 deletion include/depthai/common/EepromData.hpp
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Expand Up @@ -28,7 +28,7 @@ struct EepromData {
Extrinsics housingExtrinsics;
std::vector<uint8_t> miscellaneousData;
bool stereoUseSpecTranslation{true};
bool stereoEnableDistortionCorrection{false};
bool stereoEnableDistortionCorrection{true};
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@moratom moratom Nov 14, 2025

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I don't think we should change this default here

CameraBoardSocket verticalCameraSocket = dai::CameraBoardSocket::AUTO;
};

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3 changes: 3 additions & 0 deletions include/depthai/pipeline/node/DynamicCalibrationNode.hpp
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Expand Up @@ -198,6 +198,9 @@ class DynamicCalibration : public DeviceNodeCRTP<DeviceNode, DynamicCalibration,
* - Reseting of data
*/
bool runOnHostVar = true;

// When old calibration is encountered, issue a warning once
bool oldCalibrationWarningIssued = false;
};

} // namespace node
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5 changes: 3 additions & 2 deletions src/pipeline/node/DynamicCalibrationNode.cpp
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Expand Up @@ -417,8 +417,9 @@ DynamicCalibration::ErrorCode DynamicCalibration::initializePipeline(const std::
calibrationHandler = daiDevice->getCalibration();
auto eepromData = calibrationHandler.getEepromData();
auto platform = daiDevice->getPlatform();
if(platform == dai::Platform::RVC2 && (!eepromData.stereoEnableDistortionCorrection || eepromData.stereoUseSpecTranslation)) {
throw std::runtime_error("The calibration on the device is too old to perform DynamicCalibration, full re-calibration required!");
if(platform == dai::Platform::RVC2 && !eepromData.stereoEnableDistortionCorrection && !oldCalibrationWarningIssued) {
logger->warn("The calibration on the device is too old to perform DynamicCalibration, full re-calibration is recommended!");
oldCalibrationWarningIssued = true;
}
auto [calibA, calibB] = DclUtils::convertDaiCalibrationToDcl(calibrationHandler, daiSocketA, daiSocketB, resolutionA, resolutionB);

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