I try to get better depth map with OAK-D Pro PoE. I confirmed depth map with depthai_demo.py. When I increase the output of the projector, the depth seems to be improved. But when I increase projector output more than 300, I got an unmeasured hole displayed at the center of the depth map. But in the left and right camera, the dot pattern got clearer. Which parameter should I check? Please help me to improve depth. 1. IR projector=0 [URL=https://i.imgur.com/NiCgFGH.png][IMG]https://i.imgur.com/NiCgFGHh.png[/IMG][/URL] [URL=https://i.imgur.com/aFP3A9h.png][IMG]https://i.imgur.com/aFP3A9hh.png[/IMG][/URL] [URL=https://i.imgur.com/jEDzebx.png][IMG]https://i.imgur.com/jEDzebxh.png[/IMG][/URL] [URL=https://i.imgur.com/9S8rlz5.png][IMG]https://i.imgur.com/9S8rlz5h.png[/IMG][/URL] 2. IR projector=100 [URL=https://i.imgur.com/qZ3RIA1.png][IMG]https://i.imgur.com/qZ3RIA1h.png[/IMG][/URL] [URL=https://i.imgur.com/qUhr8is.png][IMG]https://i.imgur.com/qUhr8ish.png[/IMG][/URL] [URL=https://i.imgur.com/i7U1ALQ.png][IMG]https://i.imgur.com/i7U1ALQh.png[/IMG][/URL] 3. IR projector=200 [URL=https://i.imgur.com/zSCjWcs.png][IMG]https://i.imgur.com/zSCjWcsh.png[/IMG][/URL] [URL=https://i.imgur.com/FYRmDlx.png][IMG]https://i.imgur.com/FYRmDlxh.png[/IMG][/URL] [URL=https://i.imgur.com/gNp173M.png][IMG]https://i.imgur.com/gNp173Mh.png[/IMG][/URL] 4. IR projector=300 [URL=https://i.imgur.com/a3TxpV5.png][IMG]https://i.imgur.com/a3TxpV5h.png[/IMG][/URL] [URL=https://i.imgur.com/oVD0qwy.png][IMG]https://i.imgur.com/oVD0qwyh.png[/IMG][/URL] [URL=https://i.imgur.com/GaewZ3Q.png][IMG]https://i.imgur.com/GaewZ3Qh.png[/IMG][/URL] 5. IR projector=500 [URL=https://i.imgur.com/ZDNPPIU.png][IMG]https://i.imgur.com/ZDNPPIUh.png[/IMG][/URL] [URL=https://i.imgur.com/h2gu0zC.png][IMG]https://i.imgur.com/h2gu0zCh.png[/IMG][/URL] [URL=https://i.imgur.com/idG25yK.png][IMG]https://i.imgur.com/idG25yKh.png[/IMG][/URL] 6. IR projector=1000 [URL=https://i.imgur.com/z07aWwn.png][IMG]https://i.imgur.com/z07aWwnh.png[/IMG][/URL] [URL=https://i.imgur.com/TJxi8eq.png][IMG]https://i.imgur.com/TJxi8eqh.png[/IMG][/URL] [URL=https://i.imgur.com/XxQT6kf.png][IMG]https://i.imgur.com/XxQT6kfh.png[/IMG][/URL]

**Hi [erik](https://discuss.luxonis.com/d/1183/2)**, Please tell me following two topics. 1. How's going projector improvements? Please share with us plan. 2. Does OAK-D-SR-PoE improve the issue that have a hole in center of depth map? (ideal range of 20cm to 5m seems to be good for my application) **** Thank you.

Hi @"erik"#p9439 , Please tell share us more about following two topics. 1. How's going projector improvements? Please share with us plan. 2. Does OAK-D-SR-PoE improve the issue that have a hole in center of depth map? (ideal range of 20cm to 5m seems to be good for my application) **** Thank you.

Hi @"erik"#p11552 , Thank you for sharing current situation. Let me ask two more questions. 1. Can you share any plan with us for improving this issue? 2. Is the new project insufficient even for the short range of OAK-D-SR-POE? I think this could be a risk for choosing OAK-D-PRO series instead of Realsense. Because they seems not to have this issue. (Of course they also don't have many features.)

Hi @"izumi"#p11588 , I apologize for the delay, I had to double-check with the team about it. 1. We are still working on a better dot projector, we have since gone through 2 revisions (that weren't an improvement). I believe the current ETA is end of Q4 for the (new revision of) new projector, we will soon receive initial samples. 2. It should be sufficient, as the pattern would be more random. It might also be that the current projector is sufficient (from eg. 25cm onwards), but we haven't tested it yet. Thoughts?

Hole in center of depth map

izumi

I try to get better depth map with OAK-D Pro PoE. I confirmed depth map with depthai_demo.py.
When I increase the output of the projector, the depth seems to be improved. But when I increase projector output more than 300, I got an unmeasured hole displayed at the center of the depth map. But in the left and right camera, the dot pattern got clearer. Which parameter should I check? Please help me to improve depth.

erik

Hi izumi ,
We have also noticed this at close distances with the current dot projector - dot pattern isn't the best, and at close ranges it actually makes the depth worse (as you have seen). We are currently evaluating a different dot projector, and initial measurements look promising. We believe that production ETA would be Q2/Q3 this year. Some screenshots below, and we will share full test results as well. New dot projector pattern on the right - and the fill-rate is also improved. For now, I would suggest going with full power at close range with the current dot projector. Thoughts?
Thanks, Erik

izumi

Hi erik ,
Thanks for sharing plan to improve this issue. I will wait for next model!

izumi

erik Is this the one you mentioned here?
https://docs.luxonis.com/projects/hardware/en/latest/pages/OAK-D-SR-POE.html

erik

Hi izumi ,
No, it's still the same dot projector unfortunately. There were a bunch of issues during the development of the new dot projector, and current prototype projectors have lower power than the old one, which many would consider a downgrade (even if it has better fillrate/noise pattern). That's why we are still iterating on it. Once we have it, all active stereo devices will have that projector.

izumi

Hi erik ,
Please tell share us more about following two topics.

How's going projector improvements? Please share with us plan.
Does OAK-D-SR-PoE improve the issue that have a hole in center of depth map? (ideal range of 20cm to 5m seems to be good for my application)
https://docs.luxonis.com/projects/hardware/en/latest/pages/OAK-D-SR-POE.html

Thank you.

erik

Hi izumi ,
Unfortunately, dots from the new projector weren't as bright, which means the max distance decreased, a big deal-breaker for many. We don't yet have OAK-D-SR-POE with correct CCMs to test at which distance you get the error in the middle of the depth image, but I imagine it does occur at some point (as dot pattern is the same).

izumi

Hi erik ,

Thank you for sharing current situation. Let me ask two more questions.

Can you share any plan with us for improving this issue?
Is the new project insufficient even for the short range of OAK-D-SR-POE?

I think this could be a risk for choosing OAK-D-PRO series instead of Realsense. Because they seems not to have this issue. (Of course they also don't have many features.)

erik

Hi izumi ,
I apologize for the delay, I had to double-check with the team about it.

We are still working on a better dot projector, we have since gone through 2 revisions (that weren't an improvement). I believe the current ETA is end of Q4 for the (new revision of) new projector, we will soon receive initial samples.
It should be sufficient, as the pattern would be more random. It might also be that the current projector is sufficient (from eg. 25cm onwards), but we haven't tested it yet. Thoughts?

izumi

Hi erik ,

Thank you for sharing updates. Can you share the progress of the projector upgrading?

erik

Hi @izumi ,
We have received multiple different projectors (from different vendors), but none were significantly better. We are still in the process of evaluating different ones.

izumi

Hi @erik ,

Sorry for asking again. But can you share the progress about this issue?

erik

Hi @izumi ,
We will likely be implementing new projects to our RVC4-based cameras first (which is the main priority), and then update the design for current OAK cameras.

izumi

erik Does this improvement resolve this Hole in center of depth map issue?

erik

Hi @izumi ,
Likely no, as that issue isn't due to calibration, but dot projector pattern.

izumi

Hi erik ,

Is there any update about ETA for RVC4-based cameras?

jakaskerl

Hi @izumi
Autumn 2024.

izumi

Hi jakaskerl ,

Thank you for your quick response! That is a little bit sad news to me because this articles said 2024 June was original plan. I'll wait next gen camera!