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



  2. IR projector=100


  3. IR projector=200


  4. IR projector=300


  5. IR projector=500


  6. IR projector=1000


  • erik replied to this.

    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

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

          4 months later

          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.

              2 months later

              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).

                  Hi erik ,

                  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.)

                  • erik replied to this.
                      5 days later

                      Hi izumi ,
                      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?
                          3 months later

                          Hi erik ,

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

                            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.

                            2 months later

                            Hi @erik ,

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

                            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.

                              a month later

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

                                2 months later

                                Hi erik ,

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

                                  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!

                                    a year later

                                    Hi @jakaskerl ,
                                    I'm very interested in improvement of depth reliability on OAK4-D Pro. While waiting for it, can we expect any improvement on this topic with OAK-D Pro?
                                    Because this issue is very critical for my application…

                                      izumi
                                      OAK4-D pro is fitted with a different dot projector (Himax), so this shouldn't be a problem here.

                                      Thanks,
                                      Jaka