Using RGB depth alignment with camera in vertical position

RiccardoGrieco

Hello everyone,

For my application I need to use an OAK D camera in vertical position with depth information, and I would like to use the utilities for RGB-depth alignment.
However, according to documentation:

For RGB-depth alignment the RGB camera has to be placed on the same horizontal line as the stereo camera pair.

Does it mean that in my case stereo.setDepthAlign(dai.CameraBoardSocket.CAM_A) does not work properly?

I don't have much experience in this field, but shouldn't alignment work the same with different orientation of the device, as long as the lens are are positioned on the same axis?

Also, If I take a look at blended RGB - depth frame, it doesn't look bad (in terms of alignment):

Could you please clarify whether it's ok to use it or I'm not considering something?

Thank you,
Riccardo

jakaskerl

Hi @RiccardoGrieco
I'm not exactly sure but I think having the cameras in the same vertical plane should suffice. I'll have to ask the team.

Thanks,
Jaka

RiccardoGrieco

Hi @jakaskerl

are there any news about this?

Thank you,
Riccardo

jakaskerl

Hi @RiccardoGrieco
The alignment presumes that the cameras are on the same X axis, so it will not work if the cameras are vertically stacked. But it will work if the cameras are also rotated (like in your case).

Thanks,
Jaka