ToF - RGB alignment

AlessandroB

Hello,

I'm able to align a ToF frame to a RGB frame:

camRgb.isp.link(sync.inputs["rgb"])

tof.depth.link(align.input)

align.outputAligned.link(sync.inputs["depth"])

sync.inputs["rgb"].setBlocking(False)

camRgb.isp.link(align.inputAlignTo)

instead the opposite doesn't work:

tof.depth.link(sync.inputs["depth"])

camRgb.isp.link(align.input)

align.outputAligned.link(sync.inputs["rgb"])

sync.inputs["depth"].setBlocking(False)

tof.depth.link(align.inputAlignTo)

Please find in attachment the results that I get.

What am I doing wrong?

Thanks!

Alessandro

jakaskerl

Hi @AlessandroB
The alignment to RGB works because of optimizations. These optimizations can not be done when doing the reverse. While it is technically possible, it would be too slow to be usable.

Thanks,
Jaka

AlessandroB

Hi jakaskerl ,

Thank you for your explanation.

I still have a couple of doubts about TOF.

In some examples I found this command:

cam_tof.setImageOrientation(dai.CameraImageOrientation.ROTATE_180_DEG)

nonetheless I can't find a clear difference in using it (please have a look at the attached images).

Instead, as regards this command:

cam_tof.setFps(2*FPS) # ToF node will produce depth frames at /2 of this rate

where FPS is the RGB FPS. Is this always true, no matter all the other configuration parameters?

Many thanks!

BR,

Alessandro

erik

Hi @AlessandroB ,
WRT rotation I believe it's hardcoded in FW already, so it won't change anything. WRT FPS, no - depends on the mode. Currently best way is trial and error approach.

AlessandroB

Hi erik,

Many thanks!

Alessandro