Camera: OAK-D W PoE - https://docs.luxonis.com/projects/hardware/en/latest/pages/NG9097w/

Hello, I'm using the camera to get the RGB and Depth image from trucks passing from a gate (5,5m height) to identify the objects based on the depth.

Unfortunently the depth behavior is way beyond was expected. I mean, every object 3.5m or more from the camera has almost no difference on depth measurement, like the image below

The white square has objects, but we can not see it only using depth. Another problem faced is the distortion by the eyefish problem, but it is easier to be fix, the biggest problem I want to solve right now is the depth measurement.

The parameters and configs used on mono cameras:

mono.setResolution(depthai.MonoCameraProperties.SensorResolution.THE_800_P)

self.stereo.initialConfig.setConfidenceThreshold(120)
# Prioritize fill-rate, sets Confidence threshold to 245 self.stereo.setDefaultProfilePreset(depthai.node.StereoDepth.PresetMode.HIGH_DENSITY)
if(DepthAlign): self.stereo.setDepthAlign(depthai.CameraBoardSocket.RGB)
# Prioritize accuracy, sets Confidence threshold to 200 self.stereo.setDefaultProfilePreset(depthai.node.StereoDepth.PresetMode.HIGH_ACCURACY)
self.stereo.initialConfig.setMedianFilter(depthai.MedianFilter.KERNEL_7x7)
# Better handling for occlusions: self.stereo.setLeftRightCheck(True) # Closer-in minimum depth, disparity range is doubled: self.stereo.setExtendedDisparity(False) # Better accuracy for longer distance, fractional disparity 32-levels: self.stereo.setSubpixel(subpixel)
config = self.stereo.initialConfig.get() config.postProcessing.speckleFilter.enable = False config.postProcessing.speckleFilter.speckleRange = 50 # config.postProcessing.temporalFilter.enable = True config.postProcessing.spatialFilter.enable = True config.postProcessing.spatialFilter.holeFillingRadius = 2 config.postProcessing.spatialFilter.numIterations = 1 config.postProcessing.thresholdFilter.minRange = 400 config.postProcessing.thresholdFilter.maxRange = 6000

For objects closer to the camera it work pretty well, but, +3.5m it is very bad. What can I do to improve it?

  • I can't move the camera closer to the object.

By the way, sorry my bad english.