Increasing max_range does not allow create 3d reconstruction on long dist

ostepan2006

Hello Team.

I had been using gen2-multiple-devices\rgbd-pointcloud-fusion\main.py to get 3d point cloud on the distance about 30 m. I had performed calibration first but then I got blanked area despite I had change max_range to 30000. On near distance 3d reconstruction is OK. Thanks

jakaskerl

Hi ostepan2006
I'd say 30m is probably too much for the baseline you are using, since at that distance there wouldn't be any disparity which means depth cannot be calculated. How far apart are your devices?

Thanks,
Jaka

ostepan2006

jakaskerl

Thanks for your reply.

The distanse between my stereo-cameras was 0.5 m.

Btw I had got 3d scene from OAK-D with 7.7 cm base (see screenshot).

jakaskerl

Hi ostepan2006
Yes, a 7.5cm baseline will likely not be enough to get the depth at 30m (even when using subpixel disparity).
Check this guide to calculate your depth limits:
https://docs.luxonis.com/projects/api/en/latest/tutorials/configuring-stereo-depth/#depth-from-disparity

Thanks,
Jaka

ostepan2006

jakaskerl

Thanks.

I agree with you that a 7.5cm baseline will likely not be enough to get the a good depth map at 30m. But I had got (not very good) point cloud on a distanse even longer than 30m (see viseo).

oak-d-06092023-11-33-57.webm

2MB

I woild like get any point cloud using a two-camera (consist from two OAK-D) system. But I can't and can't understand why. Thanks

jakaskerl

Hi ostepan2006
This looks to me like a pointcloud that has all points at the same depth - since none can actually be calculated.. Could you try testing with depthai-viewer; it has an inbuilt pointcloud functionality which is a 3D map and allows rotation and further inspection. Check if these points actually have any meaningful depth data.

Thanks,
Jaka