About OAK-D Fisheye and Dewarp

RyanLee

We have a question about OAK-D camera Fisheye lens support.

When i am checking at the product specifications, it appears that the Fisheye lens is supported, but is the Fisheye lens only applicable to the RGB camera (main)? Or is it possible to support Fisheye lens for stereo camera for depth image?

In addition, we hope to know whether the dewarp function required for screen distortion correction is also supported inside the camera.

Thanks.

Luxonis-Alex

Fisheye wide FOV lenses will be supported on all cameras: color and mono. In fact we're working on a OAK-D W(wide) variant having these kind of cameras: https://github.com/luxonis/depthai-hardware/issues/152

We do have support for dewarp + rectification of mono cameras already in mainline, in the context of StereoDepth.
https://docs.luxonis.com/projects/api/en/latest/samples/StereoDepth/stereo_depth_video/
Having the fisheye cameras properly calibrated, this example can be run with the options:

-lm to load a mesh for dewarp+rectification instead of the 3x3 warp transform matrix used for pinhole-model rectification. Currently the mesh is computed on host at init, based on calibration data fetched from device, and then sent to device. But we plan to move the mesh calculation fully on device. The dewarp process already happens on the device.
-rect for showing rectified+dewarped frames

For color cameras, currently dewarping would be possible with ImageManip, but on a branch not merged yet:
https://github.com/luxonis/depthai-python/compare/image_manip_refactor

We also plan to add dewarp support directly inside ColorCamera, so all outputs would be dewarped by default.

Thanks,
Alex