Cannot get full FOW with the video output from the OAK-D Pro W

Hello.

I have been trying to use the video output with as little cropping as possible on the OAK-D Pro W with the IMX378 sensor. I have tried the isp scaling which made the FOW a bit better, but still far from the full FOW.

Is it possible to get the uncropped video using the video stream or do I have to output ISP directly instead? Is there anything else I can try?

Here is my code:

dai:: Pipeline pipeline;

auto camRgb = pipeline.create<dai::node::ColorCamera>();
auto xoutRgb = pipeline.create<dai::node::XLinkOut>();
xoutRgb->setStreamName("rgb");

camRgb->setSensorCrop(0, 0);
camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_12_MP);
camRgb->setInterleaved(false);
camRgb->setIspScale(3, 4);// Scaling according to isp spreadsheet

camRgb->setVideoSize(rgbWidth, rgbHeight);

xoutRgb->input.setBlocking(false);
xoutRgb->input.setQueueSize(1);

camRgb->video.link(xoutRgb->input);

device = std::makeshared<dai:: Device(pipeline);//, dai::UsbSpeed::SUPER_PLUS);

std::string cameraNames = cameraMapToString(device->getCameraSensorNames());

qRgb = device->getOutputQueue("rgb", 1, false);