Hello Luxonis Community, I am currently working on a project where I need to measure the depth of food items on a plate using the OAK-D Pro POE camera. The challenge I'm facing is that these objects are small, and when the camera is positioned 2 meters away, the depth measurements are not accurate. Here is the setup I'm using: 1. **Camera:** OAK-D Pro POE 2. **Distance:** 2 meters 3. **Configuration Settings:** * Confidence: 230 * Median Filter: 5 (KERNEL_5x5) * Extended Disparity: Disabled * Subpixel Precision: Enabled * Decimation Factor: 1 * Temporal Filter: Disabled * Spatial Filter: Enabled (Radius: 2, Alpha: 0.5, Delta: 2, Iterations: 1) * Threshold Filter: Min Range: 2000, Max Range: 2400 Despite trying various configurations, I am unable to achieve satisfactory depth accuracy. The depth map does not seem to capture the fine details of the small objects on the plate. Could anyone suggest additional parameters I might adjust or any specific techniques to improve depth precision for small objects at this distance? Any help or advice would be greatly appreciated. Thank you!

@"BRYANANDRESGONZALEZLOBOS"#p25243 Could you attach an image of the depth map? Some general tips: - Place the camera a bit closer if you can. - Lower the median filter kernel. - Improve the lighting Thanks Jaka

@"jakaskerl"#p25267 Sure, I’m attaching the depth maps for a plate of food located at approximately 43 cm, 90 cm, and 1.2 meters. [upl-image-preview url=https://discuss.luxonis.com/assets/files/2024-08-22/1724332817-619131-43-cm-rgb.png] [upl-image-preview url=https://discuss.luxonis.com/assets/files/2024-08-22/1724332598-607129-43-cm.png] [upl-image-preview url=https://discuss.luxonis.com/assets/files/2024-08-22/1724332830-279386-90-cm-rgb.png] [upl-image-preview url=https://discuss.luxonis.com/assets/files/2024-08-22/1724332605-754364-90-cm.png] [upl-image-preview url=https://discuss.luxonis.com/assets/files/2024-08-22/1724332842-294222-12-m-cm.png] [upl-image-preview url=https://discuss.luxonis.com/assets/files/2024-08-22/1724332609-220854-12-m.png]

Difficulty in Measuring Depth of Small Objects at 2 Meters with OAK-D Pro POE

BRYANANDRESGONZALEZLOBOS

Hello Luxonis Community,

I am currently working on a project where I need to measure the depth of food items on a plate using the OAK-D Pro POE camera. The challenge I'm facing is that these objects are small, and when the camera is positioned 2 meters away, the depth measurements are not accurate.

Here is the setup I'm using:

Camera: OAK-D Pro POE
Distance: 2 meters
Configuration Settings:
- Confidence: 230
- Median Filter: 5 (KERNEL_5x5)
- Extended Disparity: Disabled
- Subpixel Precision: Enabled
- Decimation Factor: 1
- Temporal Filter: Disabled
- Spatial Filter: Enabled (Radius: 2, Alpha: 0.5, Delta: 2, Iterations: 1)
- Threshold Filter: Min Range: 2000, Max Range: 2400

Despite trying various configurations, I am unable to achieve satisfactory depth accuracy. The depth map does not seem to capture the fine details of the small objects on the plate.

Could anyone suggest additional parameters I might adjust or any specific techniques to improve depth precision for small objects at this distance?

Any help or advice would be greatly appreciated.

Thank you!

jakaskerl

BRYANANDRESGONZALEZLOBOS
Could you attach an image of the depth map?

Some general tips:

Place the camera a bit closer if you can.
Lower the median filter kernel.
Improve the lighting

Thanks
Jaka

BRYANANDRESGONZALEZLOBOS

jakaskerl Sure, I’m attaching the depth maps for a plate of food located at approximately 43 cm, 90 cm, and 1.2 meters.

jakaskerl

BRYANANDRESGONZALEZLOBOS
Try enabling extended disparity mode as well. Make sure all surfaces are textured (so not plain black like the tray is).

Thanks,
Jaka