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📝 WalkthroughWalkthroughModified auto-calibration initialization in Pipeline.cpp by adding a distortion comparison helper function, reordering the control flow to move record/replay setup earlier, and extending calibration logic to read EEPROM, compare distortion coefficients, and conditionally disable flash calibration based on detected differences or read failures. Changes
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Actionable comments posted: 1
🤖 Prompt for all review comments with AI agents
Verify each finding against the current code and only fix it if needed.
Inline comments:
In `@src/pipeline/node/AutoCalibration.cpp`:
- Around line 344-355: The loop over leftBoardSocket/rightBoardSocket currently
skips sockets equal to CameraBoardSocket::AUTO and can return true when no
comparisons run; modify the AutoCalibration logic (in AutoCalibration.cpp) to
track whether any hasDifferentDistortion(runtimeCalibration, eepromCalibration,
socket) comparisons were actually performed (e.g., a bool compared flag toggled
when socket != CameraBoardSocket::AUTO) and, after the loop, return false if no
comparisons occurred (safer default) instead of returning true; keep the
existing logger->warn usage for per-socket mismatches and only allow returning
true when at least one valid comparison succeeded.
🪄 Autofix (Beta)
Fix all unresolved CodeRabbit comments on this PR:
- Push a commit to this branch (recommended)
- Create a new PR with the fixes
ℹ️ Review info
⚙️ Run configuration
Configuration used: Repository UI
Review profile: ASSERTIVE
Plan: Pro
Run ID: b6eb14d4-c17d-415b-bfa6-1aea2a8e7714
📒 Files selected for processing (2)
include/depthai/pipeline/node/AutoCalibration.hppsrc/pipeline/node/AutoCalibration.cpp
📜 Review details
🧰 Additional context used
🧠 Learnings (6)
📓 Common learnings
Learnt from: MaticTonin
Repo: luxonis/depthai-core PR: 1732
File: src/pipeline/Pipeline.cpp:662-662
Timestamp: 2026-03-24T22:39:00.650Z
Learning: In `src/pipeline/Pipeline.cpp`, the `DEPTHAI_AUTOCALIBRATION` environment variable intentionally defaults to `"ON_START"` (not `""`). This means auto-calibration is initialized by default for stereo pipelines at pipeline build time. The resulting implicit EEPROM/calibration writes on startup are by design and should not be flagged as a backward-incompatible change or unintended side-effect in future reviews.
Learnt from: MaticTonin
Repo: luxonis/depthai-core PR: 1718
File: src/pipeline/node/AutoCalibration.cpp:327-330
Timestamp: 2026-03-13T19:40:56.303Z
Learning: In `src/pipeline/node/AutoCalibration.cpp`, the hard-coded 1280x800 resolution check in `AutoCalibration::validateIncomingData()` is intentional. The AutoCalibration node in the depthai-core (C++) project is designed to support only 1280x800 sensor resolution and this constraint should not be flagged as a usability issue in future reviews.
Learnt from: JakubFara
Repo: luxonis/depthai-core PR: 1718
File: src/pipeline/node/AutoCalibration.cpp:167-216
Timestamp: 2026-03-17T08:07:19.141Z
Learning: In `src/pipeline/node/AutoCalibration.cpp`, the `getNewCalibration` method intentionally opens the gate once before the outer recalibration retry loop and closes it only at the end (or on success). There is no need to isolate gate state between individual recalibration attempts — this single open/close pattern is by design and should not be flagged as a bug in future reviews.
📚 Learning: 2026-03-24T22:39:00.650Z
Learnt from: MaticTonin
Repo: luxonis/depthai-core PR: 1732
File: src/pipeline/Pipeline.cpp:662-662
Timestamp: 2026-03-24T22:39:00.650Z
Learning: In `src/pipeline/Pipeline.cpp`, the `DEPTHAI_AUTOCALIBRATION` environment variable intentionally defaults to `"ON_START"` (not `""`). This means auto-calibration is initialized by default for stereo pipelines at pipeline build time. The resulting implicit EEPROM/calibration writes on startup are by design and should not be flagged as a backward-incompatible change or unintended side-effect in future reviews.
Applied to files:
include/depthai/pipeline/node/AutoCalibration.hppsrc/pipeline/node/AutoCalibration.cpp
📚 Learning: 2026-03-13T19:40:56.303Z
Learnt from: MaticTonin
Repo: luxonis/depthai-core PR: 1718
File: src/pipeline/node/AutoCalibration.cpp:327-330
Timestamp: 2026-03-13T19:40:56.303Z
Learning: In `src/pipeline/node/AutoCalibration.cpp`, the hard-coded 1280x800 resolution check in `AutoCalibration::validateIncomingData()` is intentional. The AutoCalibration node in the depthai-core (C++) project is designed to support only 1280x800 sensor resolution and this constraint should not be flagged as a usability issue in future reviews.
Applied to files:
include/depthai/pipeline/node/AutoCalibration.hppsrc/pipeline/node/AutoCalibration.cpp
📚 Learning: 2026-03-17T08:07:19.141Z
Learnt from: JakubFara
Repo: luxonis/depthai-core PR: 1718
File: src/pipeline/node/AutoCalibration.cpp:167-216
Timestamp: 2026-03-17T08:07:19.141Z
Learning: In `src/pipeline/node/AutoCalibration.cpp`, the `getNewCalibration` method intentionally opens the gate once before the outer recalibration retry loop and closes it only at the end (or on success). There is no need to isolate gate state between individual recalibration attempts — this single open/close pattern is by design and should not be flagged as a bug in future reviews.
Applied to files:
include/depthai/pipeline/node/AutoCalibration.hppsrc/pipeline/node/AutoCalibration.cpp
📚 Learning: 2026-03-24T22:39:05.647Z
Learnt from: MaticTonin
Repo: luxonis/depthai-core PR: 1732
File: src/pipeline/Pipeline.cpp:705-705
Timestamp: 2026-03-24T22:39:05.647Z
Learning: In `src/pipeline/Pipeline.cpp`, within `PipelineImpl::build()`, the condition `autoCalibrationString != "OFF" && autoCalibrationString != ""` intentionally retains the empty-string check. Even though `utility::getEnvAs<std::string>("DEPTHAI_AUTOCALIBRATION", "ON_START")` provides a default of `"ON_START"`, the explicit `!= ""` guard is kept on purpose and should not be flagged as redundant in future reviews.
Applied to files:
include/depthai/pipeline/node/AutoCalibration.hpp
📚 Learning: 2026-03-24T22:39:04.364Z
Learnt from: MaticTonin
Repo: luxonis/depthai-core PR: 1732
File: src/pipeline/Pipeline.cpp:705-705
Timestamp: 2026-03-24T22:39:04.364Z
Learning: Do not flag the `!= ""` part of the auto-calibration condition as redundant when it appears in `PipelineImpl::build()` (or closely related pipeline build logic). If the code uses `utility::getEnvAs<std::string>(..., default)` with a default such as `"ON_START"`, the explicit empty-string guard may still be intentional to treat an explicitly empty env var as “OFF/disabled” (or to avoid special-casing elsewhere). Only consider removing `!= ""` if the codebase has an explicit, enforceable guarantee that `DEPTHAI_AUTOCALIBRATION` can never be set to an empty string (e.g., via validated parsing/CI checks); otherwise, keep the guard.
Applied to files:
src/pipeline/node/AutoCalibration.cpp
🪛 Cppcheck (2.20.0)
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🔇 Additional comments (7)
include/depthai/pipeline/node/AutoCalibration.hpp (2)
98-99: LGTM: New method declaration for flash decision logic.The method signature correctly takes a const reference to avoid unnecessary copying of the calibration handler.
127-129: LGTM: Socket members to support per-camera distortion comparison.Defaulting to
CameraBoardSocket::AUTOis appropriate as a safe default beforebuild()captures the actual socket values from the cameras.src/pipeline/node/AutoCalibration.cpp (5)
5-5: LGTM: Required include forstd::fabs.
14-42: LGTM: Well-structured helper for distortion comparison.The guard at line 17 correctly prevents exceptions from
getDistortionModel()andgetDistortionCoefficients()(which throwstd::runtime_errorwhen the socket is absent). Returningfalsewhen either calibration lacks data for the socket is a safe conservative choice that defaults to allowing the flash.
131-132: LGTM: Socket capture for distortion comparison.The captured sockets will be used in
shouldFlashCalibration()to compare against EEPROM calibration for the specific camera pair.
336-342: LGTM: Robust exception handling for EEPROM read.Catching the exception and disabling flash is the safe choice when factory calibration cannot be read. The warning message with
e.what()provides useful debugging context.
268-282: This pattern is correct by design and requires no changes.The
flashCalibrationflag is computed once at line 268 to determine whether the initial calibration represents a "replay" scenario (calibration differs from EEPROM) or normal operation (calibration matches EEPROM). This scenario determination is safety-critical and applies consistently to all subsequently generated calibrations within that invocation.In a replay scenario,
flashCalibrationis false and remains false for all generated calibrations—preventing unsafe writes to EEPROM. In normal operation, generated calibrations inherit the enabled flash flag because they are being produced for the same hardware whose initial state was verified.
asahtik
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asahtik
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Thanks, this fixes the issue. LGTM.
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Actionable comments posted: 1
🤖 Prompt for all review comments with AI agents
Verify each finding against the current code and only fix it if needed.
Inline comments:
In `@src/pipeline/node/AutoCalibration.cpp`:
- Around line 16-19: The current hasDifferentDistortion returns false when
either lhs or rhs lacks calibration, which allows shouldFlashCalibration to
proceed; change the logic so that if either hasCameraCalibration(socket) is
false and socket != CameraBoardSocket::AUTO the function treats that as a
difference (return true) to fail-closed and prevent EEPROM flashing; update all
analogous checks (the other calibration-comparison blocks referenced around
shouldFlashCalibration) to apply the same rule, referencing
hasDifferentDistortion, shouldFlashCalibration, and CameraBoardSocket::AUTO to
locate and fix the checks.
🪄 Autofix (Beta)
Fix all unresolved CodeRabbit comments on this PR:
- Push a commit to this branch (recommended)
- Create a new PR with the fixes
ℹ️ Review info
⚙️ Run configuration
Configuration used: Repository UI
Review profile: ASSERTIVE
Plan: Pro
Run ID: 6a4d8b90-6088-46a2-8a7e-4a4ed451e192
📒 Files selected for processing (1)
src/pipeline/node/AutoCalibration.cpp
📜 Review details
🧰 Additional context used
🧠 Learnings (7)
📓 Common learnings
Learnt from: JakubFara
Repo: luxonis/depthai-core PR: 1718
File: src/pipeline/node/AutoCalibration.cpp:167-216
Timestamp: 2026-03-17T08:07:19.141Z
Learning: In `src/pipeline/node/AutoCalibration.cpp`, the `getNewCalibration` method intentionally opens the gate once before the outer recalibration retry loop and closes it only at the end (or on success). There is no need to isolate gate state between individual recalibration attempts — this single open/close pattern is by design and should not be flagged as a bug in future reviews.
Learnt from: MaticTonin
Repo: luxonis/depthai-core PR: 1732
File: src/pipeline/Pipeline.cpp:662-662
Timestamp: 2026-03-24T22:39:00.650Z
Learning: In `src/pipeline/Pipeline.cpp`, the `DEPTHAI_AUTOCALIBRATION` environment variable intentionally defaults to `"ON_START"` (not `""`). This means auto-calibration is initialized by default for stereo pipelines at pipeline build time. The resulting implicit EEPROM/calibration writes on startup are by design and should not be flagged as a backward-incompatible change or unintended side-effect in future reviews.
📚 Learning: 2026-03-24T22:39:00.650Z
Learnt from: MaticTonin
Repo: luxonis/depthai-core PR: 1732
File: src/pipeline/Pipeline.cpp:662-662
Timestamp: 2026-03-24T22:39:00.650Z
Learning: In `src/pipeline/Pipeline.cpp`, the `DEPTHAI_AUTOCALIBRATION` environment variable intentionally defaults to `"ON_START"` (not `""`). This means auto-calibration is initialized by default for stereo pipelines at pipeline build time. The resulting implicit EEPROM/calibration writes on startup are by design and should not be flagged as a backward-incompatible change or unintended side-effect in future reviews.
Applied to files:
src/pipeline/node/AutoCalibration.cpp
📚 Learning: 2026-03-13T19:40:56.303Z
Learnt from: MaticTonin
Repo: luxonis/depthai-core PR: 1718
File: src/pipeline/node/AutoCalibration.cpp:327-330
Timestamp: 2026-03-13T19:40:56.303Z
Learning: In `src/pipeline/node/AutoCalibration.cpp`, the hard-coded 1280x800 resolution check in `AutoCalibration::validateIncomingData()` is intentional. The AutoCalibration node in the depthai-core (C++) project is designed to support only 1280x800 sensor resolution and this constraint should not be flagged as a usability issue in future reviews.
Applied to files:
src/pipeline/node/AutoCalibration.cpp
📚 Learning: 2026-03-24T22:39:04.364Z
Learnt from: MaticTonin
Repo: luxonis/depthai-core PR: 1732
File: src/pipeline/Pipeline.cpp:705-705
Timestamp: 2026-03-24T22:39:04.364Z
Learning: Do not flag the `!= ""` part of the auto-calibration condition as redundant when it appears in `PipelineImpl::build()` (or closely related pipeline build logic). If the code uses `utility::getEnvAs<std::string>(..., default)` with a default such as `"ON_START"`, the explicit empty-string guard may still be intentional to treat an explicitly empty env var as “OFF/disabled” (or to avoid special-casing elsewhere). Only consider removing `!= ""` if the codebase has an explicit, enforceable guarantee that `DEPTHAI_AUTOCALIBRATION` can never be set to an empty string (e.g., via validated parsing/CI checks); otherwise, keep the guard.
Applied to files:
src/pipeline/node/AutoCalibration.cpp
📚 Learning: 2026-03-17T08:07:19.141Z
Learnt from: JakubFara
Repo: luxonis/depthai-core PR: 1718
File: src/pipeline/node/AutoCalibration.cpp:167-216
Timestamp: 2026-03-17T08:07:19.141Z
Learning: In `src/pipeline/node/AutoCalibration.cpp`, the `getNewCalibration` method intentionally opens the gate once before the outer recalibration retry loop and closes it only at the end (or on success). There is no need to isolate gate state between individual recalibration attempts — this single open/close pattern is by design and should not be flagged as a bug in future reviews.
Applied to files:
src/pipeline/node/AutoCalibration.cpp
📚 Learning: 2026-04-01T11:06:40.618Z
Learnt from: MaticTonin
Repo: luxonis/depthai-core PR: 1737
File: include/depthai/device/CalibrationHandler.hpp:806-808
Timestamp: 2026-04-01T11:06:40.618Z
Learning: In `include/depthai/device/CalibrationHandler.hpp`, the `mutable std::optional<ImuCalibrationDecomposition>` fields `accelerometerDecompositionCache` and `gyroscopeDecompositionCache` intentionally have no synchronization. `CalibrationHandler` is not designed for concurrent access and the lazy-initialization TOCTOU pattern in its const cache getters should not be flagged as a thread-safety issue in future reviews.
Applied to files:
src/pipeline/node/AutoCalibration.cpp
📚 Learning: 2026-03-16T23:22:52.039Z
Learnt from: MaticTonin
Repo: luxonis/depthai-core PR: 1718
File: examples/python/AutoCalibration/auto_calibration_example.py:99-106
Timestamp: 2026-03-16T23:22:52.039Z
Learning: In `examples/python/AutoCalibration/auto_calibration_example.py`, no shape validation guard is needed before slicing the result of `calibrationHandler.getCameraExtrinsics()`, as the API is guaranteed to return a valid matrix. Do not flag this as an issue in future reviews.
Applied to files:
src/pipeline/node/AutoCalibration.cpp
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🔇 Additional comments (2)
src/pipeline/node/AutoCalibration.cpp (2)
131-132: Socket capture inbuild()is correct and improves determinism.Persisting
leftBoardSocket/rightBoardSocketat build time is a good foundation for socket-scoped safety checks later in the calibration flow.
268-300: Consistent flash decision propagation across both apply paths.Using one
flashCalibrationdecision and passing it into bothDCC::applyCalibration(...)call sites avoids branch drift and keeps behavior consistent.
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| bool hasDifferentDistortion(const CalibrationHandler& lhs, const CalibrationHandler& rhs, CameraBoardSocket socket) { | ||
| if(!lhs.hasCameraCalibration(socket) || !rhs.hasCameraCalibration(socket)) { | ||
| return false; | ||
| } |
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should not this be
| } | |
| if(!lhs.hasCameraCalibration(socket) || !rhs.hasCameraCalibration(socket)) { | |
| if(!lhs.hasCameraCalibration(socket) && !rhs.hasCameraCalibration(socket)) { | |
| return false; | |
| } | |
| return true; | |
| } |
| } | ||
|
|
||
| const bool flashCalibration = shouldFlashCalibration(*calibration); | ||
|
|
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So the initialConfig->flashCalibration calibration is not considered at all?
Can we do this on the Pipeline::build level?
autoCalibration->initialConfig = shouldFlashCalibration(hadler1, handler2) ?
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Now all is done in Pipeline.cpp so the user can still configure autocalibration node as he likes
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Removed completely
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Tested on |
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@MaticTonin let's just switch to info & merge IMO, thanks!
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Summary by CodeRabbit
Bug Fixes
Chores