I am currently integrating the Oak-D
Pro camera into tacking project infrastructure. I have encountered a
couple of questions regarding the optimization and usage of its
features, specifically related to converting mono camera channels to a
single grayscale channel and the RAM usage associated with the CMX when
using the ImageManip node.
For converting the output of mono camera channels into a single
grayscale channel, I have been utilizing the 'node.ImageManip' with the
type set to GRAY8 as suggested in one of forum's thread. I am
curious if there exists an alternative method to accomplish this
conversion without using 'node.ImageManip'?
I have also noticed that when using the ImageManip node for
processing images from 720P mono cameras, the CMX RAM usage is
approximately 2.48 MiB out of a total of 2.5 MiB. This usage seems quite
high, and I am concerned about these numbers in terms of stability. I
just want to clarify this because it may be expected behavior even when
using only 2 ImageManip nodes in pipeline. Additionally, without the use
of ImageManip, the CMX usage drops to about 2.02 MiB. Could you provide
insight into whether the CMX has a significant impact on performance?
Moreover, are there strategies or recommendations on how to reduce RAM
usage while maintaining the desired image processing capabilities?
Thanks in advance, Wiktor
