Contents of depth.dat output file

RehanJ

Hello,

We have been working with the Oak-D S2 camera to record videos.

We found an example in the documentation where we were able to collect stereo.depth as output.

However, we are unsure of how to utilize this file (how to open it, etc.).

Is there a particular software that needs to be used to open this file?

Thanks!

Link to Code

jakaskerl

HI RehanJ
Depends on how you are saving the depth. I can't see the code. You can paste the small chunk here using ``` on each side to create code block.

Stereo depth is RAW16 value, which cannot be encoded on device, so it is probably saved as numpy array or something similar.

Thanks,
Jaka

RehanJ

Hi @jakaskerl

Please see the code below:

from depthai_sdk import OakCamera, RecordType

with OakCamera() as oak:

color = oak.create_camera('color', resolution='1080P', fps=30, encode='MJPEG')

color.config_color_camera(isp_scale(2, 3)) # 720P

left = oak.create_camera('left', resolution='400p', fps=30)

right = oak.create_camera('right', resolution='400p', fps=30)

stereo = oak.create_stereo(left=left, right=right)

# Sync & save all streams

recorder = oak.record([color.out.encoded, left, right, stereo.out.depth], './', RecordType.VIDEO)

oak.visualize(left)

oak.start(blocking=True)

As mentioned the file of interest is the output of stereo.out.depth (a depth.dat file)

jakaskerl

Hi @RehanJ
The depth won't work unless you set the record type to MCAP or ROSBAG. You can however use stereo.out.disparity which will work with VIDEO.

Thanks,
Jaka