• DepthAI

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

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 replied to this.

    • franva

    • Best Answerset by erik

    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

      Hi franva,

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

      Thanks,
      Jaka

          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 replied to this.

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

                  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 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 replied to this.

                      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

                          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 replied to this.

                              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.

                                erik locked the discussion .