depth performance with OAK-D Pro FF

RyanLee

I'm using the stereo_inertial_node.launch file from the ros noetic package in Ubuntu 20.04 environment, and I'm trying to turn on the dot projector and measure the depth accuracy. But i met some issue. please check it out and let us know if you have any advices.

1. ir projector on/off related

To try using IR dot projector, set enableDotProjector and enableFloodLight in the stereo_inertial_node.launch file of the depthai_example package to True and run it.

There is no difference in depth quality when I see it with my eyes, and it is similar when I got the depth image and check the data directly no matter turn on/off the dot projector.

How to check if dot projector is on?

2. Error messages i can see during the its operation.

These two errors have occurred. Can i get any information about it such as why it keeps printing out and how to handle it?

[1.3.2] [182.441] [system] [critical] Fatal error. Please report to developers. Log: 'Fatal error on MSS CPU: trap: 09, address: 80220C2C' '0'

[critical] IMU driver failed with error code 1. Your board likely doesn't have IMU!

Best regards,

Ryan.

erik

Hi RyanLee ,

To set IR dot projector, please follow documentation here. If you're in a very bright environment, IR dots might not be visible (as environment oversaturates the sensor). Perhaps first try in dark environments.
Please provide full MRE for the crash.

Thanks, Erik