Jetson Orin Nx with 4 Oak-D-Pro-W cameras

warunafernando

is it possible to connect 4 Oak-D-Pro-W cameras and get depth images of 360 degrees? I am ok with lower resolution. the idea is to make a cheaper Lidar for navigation

jakaskerl

Hi @warunafernando
Sure, you could. But you would need to stitch the streams on jetson. It's fully possible though, the jetson should also provide enough power (unless you enable the dot projector in which case I'm not sure).

Thanks,
Jaka

warunafernando

HI Jaka, Thanks a lot. I got 4 cameras and I can get the power from outside (with the splitter), but mainly need to get the point cloud data in a reasonable resolution and frame rate. then convert that to a 2d scan like data so that I can feed that to Nav2 for navigation. Any examples have you seen that give me a quick start?

thanks a lot,

-Waruna

jakaskerl

Hi @warunafernando
We have examples for multiple devices (luxonis/depthai-experimentstree/master/gen2-multiple-devices) but it's meant for fusing the pointclouds. Afaik, not examples for the task you are trying to achieve, but I assume it shouldn't be too difficult. Especially with the pointcloud node coming next depthai release.

Thanks,
Jaka

jakaskerl

@warunafernando
To add, luxonis/rae-rosblob/humble/rae_bringup/launch/rtabmap.launch.py does a similar thing with two stereo cameras. But will need some modifications to make it work for 4.

warunafernando

thanks a lot! we will try that!