Hello, I am having trouble finding documentation (not sure if it exist) on where the depth start point and where is the depth origin XY location is. For the OAK-D-SR By Depth Start Point I mean is if at depth zero are we in front of the lens of the camera, behind the lens, right on the glass (basically what plane are we on in reference to the camera) ? Here is how Intel Real Sense describes what depth zero is. [upl-image-preview url=https://discuss.luxonis.com/assets/files/2024-04-03/1712174655-780583-screenshot-2024-04-03-at-150400.png] Additionally I am wondering where the depth origin XY is located. Meaning if we get lets say get the XYZ using lets say ***[Spacial Location Calculator LINK](https://docs.luxonis.com/projects/api/en/latest/samples/SpatialDetection/spatial_location_calculator/)*** and our results are zero for the X and Y does that mean that X, Y match up with the center of the right socket of the camera (since we are aligned with rectified right) ? or would it match up with the center between the left and right sockets ? etc… Intel real sense has documentation for this on their camera for this information [THAT DOC HERE PAGES 63-66](https://www.intel.com/content/dam/support/us/en/documents/emerging-technologies/intel-realsense-technology/Intel-RealSense-D400-Series-Datasheet.pdf). I am basically asking for that but for Luxonis and I am not sure if it exist. I have spent a bit of time looking for this (maybe im just not looking right) Thank you !

Where is the depth start point and depth origin XY location OAK-D-SR?

alfredogpt

Hello, I am having trouble finding documentation (not sure if it exist) on where the depth start point and where is the depth origin XY location is. For the OAK-D-SR

By Depth Start Point I mean is if at depth zero are we in front of the lens of the camera, behind the lens, right on the glass (basically what plane are we on in reference to the camera) ? Here is how Intel Real Sense describes what depth zero is.

Additionally I am wondering where the depth origin XY is located. Meaning if we get lets say get the XYZ using lets say Spacial Location Calculator LINK and our results are zero for the X and Y does that mean that X, Y match up with the center of the right socket of the camera (since we are aligned with rectified right) ? or would it match up with the center between the left and right sockets ? etc…

Intel real sense has documentation for this on their camera for this information THAT DOC HERE PAGES 63-66. I am basically asking for that but for Luxonis and I am not sure if it exist. I have spent a bit of time looking for this (maybe im just not looking right)

Thank you !

jakaskerl

Hi @alfredogpt
Depthai uses pinhole camera model, so the Z distance is measured from the optical center of the camera. This should theoretically be in the aperture center behind the lens, but might be a little more towards the lens in real world. We never measured how much that is.

Thanks,
Jaka