Dear OAK-D Experts, We have a requirement of 25cm baseline, however the OAK-D LR is only 15cm. Could we inspire from OAK-D LR to make a 25cm baseline stereo camera using the RVC2 based platforms (***OAK***-***FFC 3P*** or ***OAK***-***FFC 4P***) and 3 AR0234 camera modules, please? What should we consider in using the Luxonis depthAI software stack? Thanks and best regards, Khang Le Truong

Hi @"l4es"#p10521 Should be pretty simple to achieve with both 3P and 4P. What you need to do is a [calibration](https://docs.luxonis.com/projects/hardware/en/latest/pages/guides/calibration/#modular-cameras-calibration) with the 25cm baseline and the device should work as expected (as higher baseline LR). Keep in mind that 15cm cables that come with the camera modules might be a little bit to short depending on your setup. You can get the 25cm version at https://shop.luxonis.com/collections/accessories/products/adapter-flexible-flat-cable-25cm. Not sure what you mean by software stack, but depthai and depthai_sdk are both applicable here and fully supported. Thanks, Jaka

Hi @"jakaskerl"#p10535 It great to know that it would be pretty straight forward to have a longer baseline stereo camera while still be able to keep the compatibility with OAK-D LR in terms of software. And yes, by software stack, I meant depthai and depthai_sdk. It is also very useful to know that there's suitable flex cable for the 25cm baseline available from your stock. By the way, I would like to know if it is possible to use the IR laser dot projector (https://shop.luxonis.com/products/oak-ffc-ir) with the RVC2 platform? Best Regards, Khang Le Truong

Dear @"jakaskerl"#p10572 , I have one more question : Would we need to redo the ISP calibration or tuning for the OAK RVCx platform if we use a pair or more of camera sensors in the list of [supported sensors](https://docs.luxonis.com/projects/hardware/en/latest/pages/articles/supported_sensors/), especially the [Arducam AR0234CS](https://docs.luxonis.com/projects/hardware/en/latest/pages/articles/sensors/ar0234/#ar0234) and the [RPi Global Shutter IMX296](https://www.raspberrypi.com/products/raspberry-pi-global-shutter-camera/)? Best regards, Khang Le Truong

Hi @"l4es"#p11055 If you are striving for similarity with LR, just get the same camera modules for your modular version. I believe [these](https://shop.luxonis.com/products/ar0234) should be the exact same as in the LR prebuilt model. Thoughts? Jaka

Hi @"jakaskerl"#p11115 I found in the following release : https://github.com/luxonis/depthai-core/releases/tag/v2.21.2 * HW sync (trigger mode) enabled for OAK-D-LR, for cameras with matching FPS Thoughts?

Custom baseline stereo camera based on OAK-D LR

jakaskerl

Yes it is. I think currently all our devices are RVC2 (apart from FFC-6P).

Thanks,
Jaka

l4es

Dear jakaskerl ,

I have one more question : Would we need to redo the ISP calibration or tuning for the OAK RVCx platform if we use a pair or more of camera sensors in the list of supported sensors, especially the Arducam AR0234CS and the RPi Global Shutter IMX296?

Best regards,
Khang Le Truong

jakaskerl

Hi l4es
No, you would not need any further ISP tweaking. Of course you can if you wish, but the cameras should work well out of the box.

Thanks,
Jaka

l4es

jakaskerl

Perfect. By the way, do you have any suggestion for the lens, knowing that we would use AR0234 camera sensors and we expect some similarity with the OAK-D LR ? Also, our customer has a requirement for the FoV : 100° H x 65° V?

Thanks in advance,

Khang Le Truong

l4es

Hi jakaskerl ,

One thing I forgot to ask : How are the 3 AR0234 sensors in OAK-D LR synchronized ? Could we have similar synchronization for the custom camera ?

Best Regards,

Khang Le Truong

jakaskerl

Hi l4es
If you are striving for similarity with LR, just get the same camera modules for your modular version. I believe these should be the exact same as in the LR prebuilt model.

Thoughts?
Jaka

l4es

jakaskerl ,

Thank you. I just wanted to make sure that there's the lens accompanying with the camera sensor module.

Khang Le Truong

jakaskerl

Hi l4es
They could be hardware synced or maybe they aren't synced at all by default, I'm not sure. If you wish to sync the feeds together, I recommend you look at https://docs.luxonis.com/projects/hardware/en/latest/pages/guides/sync_frames/.

Thanks,
Jaka

l4es

Hi jakaskerl

I found in the following release : https://github.com/luxonis/depthai-core/releases/tag/v2.21.2

HW sync (trigger mode) enabled for OAK-D-LR, for cameras with matching FPS

Thoughts?

jakaskerl

Hi l4es
Yes, they seem to be hardware synced if they are set to the same FPS. You can achieve the same synchronization with the link I have sent above.

Thanks,
Jaka

l4es

Hi jakaskerl

Thanks but it is not quite clear for AR0234 of which FSYNC is input-only (i.e a pair of it cannot work in master/slave scheme independently just by configuring the FSYNC of the master as output and FSYNC of slave as input like others, but could only work with slave/slave scheme with external triggering/syncing from the SoC /OAK platform and I wonder if this later has been supported in the SDK).

Anyway, I opened another ticket to focus on this synchronization. Let's continue the discussion there : https://discuss.luxonis.com/d/2008-hw-sync-trigger-mode-for-oak-ffc-4p-with-2-x-oak-ffc-ar0234cs-or-more

Regards,
Khang