Oak-D Pro W: FoV after rectification in stereo depth

AnhTuNguyen

Hello !

I'm working with the StereoDepth module on the Oak-D ProW and I received this information when i launch my code
[194430107158771300] [1.2] [1.398] [StereoDepth(4)] [info] Calibrated FOV 97.6715 is over 85 degrees, enabling distortion correction. [194430107158771300] [1.2] [1.476] [StereoDepth(4)] [info] Rectification mesh loaded, will override camera intrinsics/extrinsics matrices [194430107158771300] [1.2] [1.476] [StereoDepth(4)] [info] Depth baseline: '7.5000005' cm, focal length: '559.57263' [194430107158771300] [1.2] [1.476] [StereoDepth(4)] [info] Depth horizontal FOV: '97.6715', vertical FOV: '71.11673'

Is it saying that the FoV is limited at 85degree after the undistortion processing please ?

Thanks in advance for you support !

jakaskerl

Hi AnhTuNguyen
I think it is saying that since FOV is over 85, a different (WIDE FOV) method of undistortion is used to correct fisheye lens effect and other distortions that are more prominent at higher FOVs.

Thanks,
Jaka