Capturing color, mono, rectified, depth and pointcloud simultaneously

jmguerrero

Hi, I'm using an OAK-D-Lite, and I’d like to capture multiple image streams simultaneously: color, left, right, rectified left (left_rect), rectified right (right_rect), depth, and a colored point cloud. I've tried setting it up, but I keep running into the same issue: I get an error stating, “MonoCamera(8) - Specified camera board socket already used.”

Is there a workaround for this, or is it a limitation of the hardware/software? Any advice would be appreciated!

Thank you!

jakaskerl

jmguerrero
Nope, should be possible. Can you show the minimal code when this happens? It's likely just a typo.

Thanks,
Jaka

jmguerrero

jakaskerl

Hi, I finally managed to create and connect two XLinkOut streams. However, it's too slow… RGB and point cloud run at less than 2Hz, and grayscale images at less than 5Hz.

I am publishing data on ROS topics, but there is a lot of delay, and it’s very slow, even though they are set to 20 fps. Is there a way to speed up the transmission? Thanks!

jakaskerl

jmguerrero
Make sure the bandwidth is high enough for this. I think ROS uses TCP for publishing to topics.
Try with less streams. Also setting pipeline.setXLinkChunkSize(0) might improve the FPS.

Thanks,
Jaka

jmguerrero

jakaskerl

This doesn’t improve much, but it’s fine for me.

Thank you!

José Miguel