OAK-D Pro W IR Dot Projector - Intermittent Toggling Issue

FishEye

Hello everyone!

I'm using the OAK-D Pro W camera and recently enabled the IR dot projector with the code device.setIrLaserDotProjectorBrightness(250). However, I've noticed that the projection is intermittently toggling on and off. Is this the expected behavior?

I'm aiming for a constant projection and would appreciate any guidance on achieving this.

Thank you for your insights!

jakaskerl

Hi @FishEye
Could you provide a minimal reproducible example for this issue?

Thanks,
Jaka

FishEye

Hi! Sorry for a late response, adding a code snippet for reproduction:
import os

import depthai as dai

IR_BRIGHTNESS = float(os.environ.get('IR_BRIGHTNESS', 250))IR_FLOODLIGHT = float(os.environ.get('IR_FLOODLIGHT', 0))RESOLUTION = os.environ.get('RESOLUTION', 'THE_800_P')STREAM_TYPE = os.environ.get('STREAM_TYPE', 'depth')CAMERA_IP = os.environ.get('CAMERA_IP', None)

pipeline = dai.Pipeline()
monoRight = pipeline.create(dai.node.MonoCamera)monoRight.setCamera("right")monoRight.setResolution(getattr(dai.MonoCameraProperties.SensorResolution, RESOLUTION))
monoLeft = pipeline.create(dai.node.MonoCamera)monoLeft.setCamera("left")monoLeft.setResolution(getattr(dai.MonoCameraProperties.SensorResolution, RESOLUTION))
xout = pipeline.create(dai.node.XLinkOut)xout.setStreamName(STREAM_TYPE)
if STREAM_TYPE == "left": monoLeft.out.link(xout.input)elif STREAM_TYPE == "right": monoRight.out.link(xout.input)elif STREAM_TYPE == "depth": stereo = pipeline.create(dai.node.StereoDepth) stereo.initialConfig.setConfidenceThreshold(100) stereo.setLeftRightCheck(True) stereo.setExtendedDisparity(False) stereo.setSubpixel(False) monoLeft.out.link(stereo.left) monoRight.out.link(stereo.right) stereo.depth.link(xout.input)else: raise Exception(f'Unknown stream type {STREAM_TYPE}')
print('Starting device')if not CAMERA_IP: device = dai.Device(pipeline)else: device = dai.Device(pipeline, CAMERA_IP)
device.setIrLaserDotProjectorBrightness(IR_BRIGHTNESS)device.setIrFloodLightBrightness(IR_FLOODLIGHT)
queue = device.getOutputQueue(STREAM_TYPE, 4, False)while True: try: frame = queue.get().getFrame() # add your code here except KeyboardInterrupt: break

tomorrow I will also attach a video of the scene with the behavior that I have described earlier

FishEye

import os
import depthai as dai

IR_BRIGHTNESS = float(os.environ.get('IR_BRIGHTNESS', 250))
IR_FLOODLIGHT = float(os.environ.get('IR_FLOODLIGHT', 0))
RESOLUTION = os.environ.get('RESOLUTION', 'THE_800_P')
STREAM_TYPE = os.environ.get('STREAM_TYPE', 'depth')
CAMERA_IP = os.environ.get('CAMERA_IP', None)


pipeline = dai.Pipeline()

monoRight = pipeline.create(dai.node.MonoCamera)
monoRight.setCamera("right")
monoRight.setResolution(getattr(dai.MonoCameraProperties.SensorResolution, RESOLUTION))

monoLeft = pipeline.create(dai.node.MonoCamera)
monoLeft.setCamera("left")
monoLeft.setResolution(getattr(dai.MonoCameraProperties.SensorResolution, RESOLUTION))

xout = pipeline.create(dai.node.XLinkOut)
xout.setStreamName(STREAM_TYPE)

if STREAM_TYPE == "left":
    monoLeft.out.link(xout.input)
elif STREAM_TYPE == "right":
    monoRight.out.link(xout.input)
elif STREAM_TYPE == "depth":
    stereo = pipeline.create(dai.node.StereoDepth)
    stereo.initialConfig.setConfidenceThreshold(100)
    stereo.setLeftRightCheck(True)
    stereo.setExtendedDisparity(False)
    stereo.setSubpixel(False)
    monoLeft.out.link(stereo.left)
    monoRight.out.link(stereo.right)
    stereo.depth.link(xout.input)
else:
    raise Exception(f'Unknown stream type {STREAM_TYPE}')

print('Starting device')
if not CAMERA_IP:
    device = dai.Device(pipeline)
else:
    device = dai.Device(pipeline, CAMERA_IP)

device.setIrLaserDotProjectorBrightness(IR_BRIGHTNESS)
device.setIrFloodLightBrightness(IR_FLOODLIGHT)

queue = device.getOutputQueue(STREAM_TYPE, 4, False)
while True:
    try:
        frame = queue.get().getFrame()
        # add your code here
    except KeyboardInterrupt:
        break

FishEye

Hi! Sharing some videos: https://drive.google.com/drive/folders/1TGxIUR9NH8Af7vzUew4lthhkQPyjsyDZ?usp=sharing

jakaskerl

Hi @FishEye

Are you changing any environment variables?

IR_BRIGHTNESS = float(os.environ.get('IR_BRIGHTNESS', 250))
IR_FLOODLIGHT = float(os.environ.get('IR_FLOODLIGHT', 0))
RESOLUTION = os.environ.get('RESOLUTION', 'THE_800_P')
STREAM_TYPE = os.environ.get('STREAM_TYPE', 'depth')
CAMERA_IP = os.environ.get('CAMERA_IP', None)

I'm running your script but am not experiencing any toggling issues. From the video file it looks to me like the device is rotating. Could it be that you are encoding the streams which compresses the stream, making dots invisible (if you get what I mean).

You can also try running your script with DEPTHAI_DEBUG=1 which should print the IR amperage.

Thanks,
Jaka

FishEye

Hey,
not changing any.
I'll try DEPTHAI_DEBUG=1