• Hardware

  • Question about depth alignment and isp scaling

Hello,

I have the oak d pro poe, and I’m trying to align the depth and rgb image at the maximum possible resolution for both frames. According to the ISP scaling options spreadsheet, the highest resolution I can get with the camera at 12 MP resolution is 1872 x 1404 which is much lower than I want. If I use other isp scaling options, regardless of whether or not they’re supported, I get an error using getCvframe() that returns:

“(-215 Assertion failed) sz.width % 2. == 0 && sz.height % 3 == 0 in function ‘cv::impl::’anonymous namespace’

I filtered your spreadsheet to show entries where depth alignment was true, which also says ISP supported. I’m confused as to why this resolution is the only viable option. I understand that the height has to be divisible by 3, and the width has to be divisible by 2, which is why the only option that works is 1872 x 1404. What other configurations can I change to make this work?

    leddy
    Used luxonis/depthai-pythonblob/main/examples/StereoDepth/rgb_depth_aligned.py example and set

    camRgb.setSize(3840, 2160)
camRgb.setPreviewSize(2400, 1856)
camRgb.setFps(fps)
stereo.setOutputSize(2400, 1856)

    The script works (albeit slow).

    Thanks,
    Jaka

        jakaskerl

        I am using isp frames directly from the camera, does changing the preview size alter the isp output?

        Thank you!

        Edit: nevermind, I see how you did it. I’ve done this but I’m not sure if it’s desirable output for who I’m working with. Thank you again