Multiple Stereo Streams

christoph

Hi Luxonis Team,
I would like to ask if it is possible to setup multiple stereo streams one one Oak-SoM-Pro. We have a board that has three IR Cameras connected. Baseline between Camera 1 and 2 is 2.5cm, Baseline between Camera 1 and 3 is 10cm.

Is it possible to configure two depth stream pipelines on one Device? If yes, is there any documentation, demo code, etc on how to do this.
To calibrate the Cameras for the depth pipeline. We would follow the procedure described here https://docs.luxonis.com/en/latest/pages/calibration/. Would we have to do that for both pipelines individual?

Thank you so much for your help.
Christoph

erik

Hi christoph ,
Yes it's possible! In fact, our upcoming OAK-D-LR is very similar to what you are describing.

You can just create multiple StereoDepth nodes, but I think for now you might need to apply rectification matrix to them separately, so a bit manual work.
I believe we are currently working on this 2-stereo system feature inside calibration file.

How far are you with the implementation, so we know the ETA? As we should have everything ready in a few months, so the UX for you would be easier then (but still possible now, with a bit of manual work/custom implementations). Thoughts?
Thanks, Erik

christoph

Hi Erik,

thanks for the quick reply. The new LR Model looks cool, really like the idea. I am definitely excited for this product. I am just starting. So my ETA is as soon as possible, however I have limited timeslots to work on the project, so it might be a couple weeks out. I would really like to try to manually get it working.

I have three follow up question.

In the calibration example I give the calibration program the following the information

{
    "board_config":
    {
        "name": "ACME01",
        "revision": "V1.2",
        "swap_left_and_right_cameras": true,
        "left_fov_deg": 73.5,
        "rgb_fov_deg": 68.7938,
        "left_to_right_distance_cm": 2.5,
        "left_to_rgb_distance_cm": 5.0
    }
}

Would my output of the calibration be the rectificaion matrix I have to configure the stereo stream manually with?

Is there any other configurations I need for the stereo stream like baseline between cameras, fov, etc or is that already included in the rectifiction matrix?
Is there any example or documentation on how to configure the depth stream manually? I guess the API would be a good place to look.

Thank you for your help.

Best,
Christoph