Hi there, I notice that by using the `SpatialLocationCalculator` to calculate the depth on the camera(OAK-D Lite), most of time, it will return distance 0 for the last row on an image, please see the image below: [URL=https://i.imgur.com/uvNWPrE.png][IMG]https://i.imgur.com/uvNWPrE.png[/IMG][/URL] Is it something wrong in the API or my code? Here is my code: https://gist.github.com/franva/0c57e5c002963f6a9561638f829f3f6e

Hi @"franva"#p7399 , yes, just screenshot of the (colorized) disparity would be great.

Please create a new post for this issue @"franva"#p7449 , and provide as much information as possible. From the images above it doesn't seem like it.

Calculate Depth always return 0 for the bottom area of an image

franva

Hi there,

I notice that by using the SpatialLocationCalculator to calculate the depth on the camera(OAK-D Lite), most of time, it will return distance 0 for the last row on an image, please see the image below:

Is it something wrong in the API or my code?

Here is my code:

jakaskerl

Hi franva,

Using Oak-D-Pro, I don't have that issue. What does your disparity map look like?

Thanks,
Jaka

franva

jakaskerl hi could you please try it on OakD lite version?

How do you want to see the disparity from my camera? Just display it in picture or paste the data of the disparity here???

erik

Hi franva , yes, just screenshot of the (colorized) disparity would be great.

franva

erik and @jakaskerl ,

Please see the disparity image:

I can see that there is a darker area at the bottom in the disparity img.

Also , what does the CCMs stand for? I googled it, but cannot find the explanation. Appreciate if you could share the document.

Back to the topic, so how can I get this issue fixed?

Many thanks,

Winston

I can see that the bottom area

erik

My guess would be that rotation of the CCMs on OAK-D-Lite is quite noticeable, where rectification fixes it, but would be invalid on the bottom part of color image.

erik

Hi franva ,
CCM = compact camera module. I don't think it's an issue per se. The reason behind it might also be that color camera just has much higher vertical FOV, so the only way to "fix" this was to crop both color+depth maps.
Thanks, Eirk

franva

erik

Thanks Erik for your help.

I also observed that the image seems left-right flipped. Am I right? How to fix this issue?

erik

Please create a new post for this issue franva , and provide as much information as possible. From the images above it doesn't seem like it.