Color OV9782 W for depth/disparity

Tom

Hello,

I have a use case where I would like to use two OV9782 W FFC modules to calculate depth/disparity. These sensors will be primarily used for color imaging, but occasionally I will need depth information. Can I simply grayscale the images, and then follow existing guides for calculating disparity from mono sensors?

One other thing about my use case is that these sensors will be further apart than normal - most likely 30 cm or so. My use case is for a short range (20-30 cm) planar surface like a table. From what I've read, this large separation should help for close range, so long as they are close enough to still align?

I do not need great resolution - I am just using the depth to check for large changes, such as the edge of the table, or large obstructions.

jakaskerl

Tom Can I simply grayscale the images, and then follow existing guides for calculating disparity from mono sensors?

I think this should already be integrated into the depthAI itself. Just pass the color streams to a stereDepth node.

Tom From what I've read, this large separation should help for close range, so long as they are close enough to still align?

A large baseline is better for long distances since there is more of a difference in perspectives from one camera to the other, which helps pinpointing an objects position in space. In theory short distances should still work as long as there is camera overlap that allows for stereo matching. The accuracy might be a bit worse than with a small baseline.
(https://docs.luxonis.com/projects/api/en/latest/components/nodes/stereo_depth/#min-stereo-depth-distance)

Thanks,
Jaka

Tom

jakaskerl Great, thanks for the help!