• DepthAI-v2

  • Luxonis OAK-D Pro Poe at short distances

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

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?

    5 days later

    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?

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

    Thanks,
    Jaka

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

    6 days later

    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

    4 days later

    Do you have the dot projector turned on?

    Would you mind sharing the resulting images?

    Yeah let me grab some depth maps for you

    7 months later

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

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

      Thanks,
      Jaka

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