Depth Output and Stereo Rectification Questions

Chris

I am currently using an Oak-D Lite camera, and I have recorded some depth images with the camera. Do the depths in these images represent depths in the rectified right camera reference frame, or do they represent depths in the unrectified right camera reference frame?

Additionally, I have a separate question about the contents of calibration_reader.py: https://github.com/luxonis/depthai-python/blob/main/examples/calibration/calibration_reader.py

I noticed on line 86 that the homography applied to the right camera is created using the same rotation (R1) as was applied to the left camera. Is this a bug? Should the rotation be R2, defined but not used on line 79? Why is the rotation applied to the right camera the same as that applied to the left?

jakaskerl

Chris Do the depths in these images represent depths in the rectified right camera reference frame, or do they represent depths in the unrectified right camera reference frame?

Whatever is set in the depthalign function. You have options to align depth to both rectified and unrectified camera streams. I believe the default is unrectified.

Chris Why is the rotation applied to the right camera the same as that applied to the left?
Might be a bug, yes. I'll check with the team.

Thanks.,
Jaka

vasu

Hi Chris, I found another reference related to stereo rectification. In this reference, right image seems to be correctly rectified using it's own rotation matrix R2 (line 98).

luxonis/depthai-experimentsblob/master/gen2-stereo-on-host/main.py