Change depth unit to 0.1 mm

Robengaard

Hi all,

Is it possible to change the depth unit from 1 mm to 0.1 mm on a oak-d pro poe? If yes, how?

I can't find it in the documentation.

Br Martin

jakaskerl

stereo.initialConfig.setDepthUnit(stereo.initialConfig.AlgorithmControl.DepthUnit.CUSTOM)
stereo.initialConfig.AlgorithmControl.customDepthUnitMultiplier(0.1) # 0.1 mm

Let me know if this works.

Thanks,
Jaka

Robengaard

Hi @jakaskerl

Thanks for your quick reply. I get the following error

depth.initialConfig.AlgorithmControl.customDepthUnitMultiplier(0.1) # 0.1 mm TypeError: 'property' object is not callable

And the depth object is

depth = self.pipeline.create(dai.node.StereoDepth)
depth.initialConfig.setDepthUnit(depth.initialConfig.AlgorithmControl.DepthUnit.CUSTOM)
depth.initialConfig.AlgorithmControl.customDepthUnitMultiplier(0.1)  # 0.1 mm

Br Martin

jakaskerl

Hi Robengaard
Here are the reference docs on setting units. One thing I found out; Setting the depth unit to meter or centimeters works fine, but doesn't seem to work correctly for CUSTOM, since setting the multiplier doesn't affect anything.
I'll look into this further.

In the meanwhile, you can manually divide the depth values to achieve 0.1 mm depth.

Thanks,
Jaka

Robengaard

Hi jakaskerl

Thanks for your reply.

The thing is that I would like to achieve a more detailed depth image, I can't see how I can do it with manually divide the depth values since the information is removed when obtaining the depth image from the stream.

Thank you for looking further into this.

Br Martin

erik

Robengaard were you able to get down to mm accuracy with our stereo cameras, so sub-mm value would be useful? In theory, it's possible, but I don't think it's easily achievable.

Robengaard

erik yes. I have a OAK-D Pro POE at pointing towards a wall approximately 390 mm away. I have a very nice depth image (after a little tweaking) and yes, sub-mm would be very usefull just like at the Intel Real-Sense I have. I need to estimate the plane of the wall and the better the depth the better the result.

Br Martin

erik

Good point Robengaard . I created feature-req here: luxonis/depthai-core856, consider subscribing so you will be notified on any news.

Robengaard

Got it to work with the help of @szabi-luxonis

stereo.initialConfig.setDepthUnit(stereo.initialConfig.AlgorithmControl.DepthUnit.CUSTOM) config = stereo.initialConfig.get() config.algorithmControl.customDepthUnitMultiplier = 10 * 1000 stereo.initialConfig.set(config)

Where 10*1000 is for converting mm to 100 um