Asymmetric shadow in depth frame

jremington

I'm learning to use the Oak-D Lite, and have it running on the Pi Zero W. I'm wondering about the asymmetric shadow in the depth field. See the screen capture below, in which the camera is looking directly at me (natural lighting from a large window).

I understand that object pixels not visible to both cameras cannot be assigned a depth value, and would expect symmetric shadows to result. Is the pronounced shadow on the right side due to this effect, or something else?

jakaskerl

Hi jremington
Yes, you are correct. The "shadow" is the effect of stereo vision. It's asymmetric because the depth is by default aligned to the right mono camera. If you manually set the alignment to the center (rgb) camera, the shadow should be symmetric.

Thanks,
Jaka