Luxonis OAK-D Pro Poe at short distances

jhaskel

Hi I have seen that the OAK-D Pro has a minimum distance of 70cm at 800p but that it should be usable at closer distances with 400p and extended disparity enabled I am currently trying to use it at a ranges of 40cm, 35cm and 30cm straight on as well as 40cm at an angle to a background plane.

I am experiencing pretty bad results (especially with the angled field of view) where I have bad "planing" and holes in the depth map.

Is this expected? have you seen results like this before

Are there any suggested workarounds you would recommend?

40cm

35cm

30cm

40cm at an angle

jakaskerl

Hi @jhaskel
Could you share the code you are using?

Thanks,
Jaka

jhaskel

Unfortunately I cant share the exact code as it lives in a larger code architecture that has been created

I can however share what settings are being used if thats helpful or I could create a test script to share if needed?

jakaskerl

jhaskel
Yes please, that would be great if you can do it.

Thanks,
Jaka

jhaskel

Ok in the process of creating a standalone script I found that it seems to be the dot projector that is causing a lot of those wierd artifacts at close distances.

Is that a known issue?

jakaskerl

Hi @jhaskel
Not that I know of, perhaps the dots are too big and mess with with stereo-matching?

Thanks,
Jaka

jhaskel

Yeah it seems so, fwiw here is a result from the original pipeline with the dot projector turned off

jhaskel

Would be really great to see if you get similar issues at close range and whether we could get the dots working at close range

jhaskel

@jakaskerl The depth quality above also still looks quite bad, any other suggestions?

jakaskerl

Hi jhaskel
I have tested using extended disparity at 400p and 15cm or so and I am having no issues. Can I see the depth map it produces? I tested using https://docs.luxonis.com/software/depthai/examples/depth_preview/.

Thanks,
Jaka

jakaskerl

Hi @jhaskel
Apologies for the late reply, I'll test this today.

Thanks,
Jaka

jhaskel

Do you have the dot projector turned on?

Would you mind sharing the resulting images?

Yeah let me grab some depth maps for you

44101

Are there any updates on this? I am having the same issue with the same camera

jakaskerl

44101
Any images you can provide? Could be a bad calibration as well..

Thanks,
Jaka

44101

jakaskerl sure, I posted the image in this other post of the forum here