Depth-Align NON RGB Socket

thebambuproject

Hi, we have a custom rig, imx214 on socket CAMD, imx378 on RGB CAMA, and two 9782 CAMB and CAM_C.

I configure color camera as socket CAM_D, but this message come:

DepthAlign is only implemented for RGB camera and LEFT and RIGHT stereo inputs

This happens since last code update, it was working as far as i remember…

erik

Hi thebambuproject ,
I believe depthai only supports depth to be aligned to left/right stereo cam or to the middle between the two (where on most OAK camera is the color camera). Are you sure it was working before?
And to align the depth:

stereo = pipeline.create(dai.node.StereoDepth)
# Instead of CENTER, you can also use RECTIFIED_LEFT or RECTIFIED_RIGHT
stereo.initialConfig.setDepthAlign(dai.StereoDepthProperties.DepthAlign.CENTER)

Thoughts?
Thanks, Erik

thebambuproject

erik Thanks Erik, i try to rollback version and check. As far as i know its a unnecesary limitation, based only in socket where camera is conected. when cameras are calibrated, intrinsics and extrinsics are calculated and RGB camera position in the center or outer no matter, maybe i´m wrong but…

My goal by now its have different calibrartions for diferent RGB sensors and align with one or other.

Thanks

erik

thebambuproject
I agree. Could you confirm at which version it was still working?
Thanks, Erik

thebambuproject

I can´t find it maybe my fault. Its possible to do it? Need a issue on Github or PR? Its important for us. Thanks!