Hi, I would like to have a question regarding the precision of obtained depth from OAK-D Pro W. From your website https://docs.luxonis.com/software/depthai-components/nodes/stereo_depth/ we can read, that the depth is calculated in 16bit values. That is probably due to the fact, that it is outputed in millimeters, right? Moreover, I have noticed that the depth to objects often jumps, e.g. by 5 cm or more. I also tried to turn on the Subpixeling and it immediately was more precise, like 1 cm.

So, my question is, what is the cause? My idea is, that the depth is originaly in 8 bit (0-255) and when converted to 16bit (for mm), it causes that between each step in depth, it jumps by that 5 cm? And as it is described in the following picture, when subpixel is ON, it is originally in 16bit, which means the precision is much higher than in 8 bit?

To explain my question, my case is that I have to have a camera in 12MP and 800p depth constantly at 30 FPS, which does not allow me to turn on subpixel, because then the camera drops to 10 FPS. However, without subpixel the depth is not so accurate, it jumps by many centimeters.

At the same time, I would like to ask whether it is possible to get the original depth directly in 16bit depth without having to turn on the subpixel?

Thank you a lot.