Short range stereo depth setup

44101

Hi everyone!

I am trying to configure the parameters of an OAK-D Pro camera to achieve good short range stereo depth (by short range I mean minZ ~20cm). I already went through the Luxonis Docs regarding this topic, and I came across this blog post OAK-D Pro vs. Intel RealSense D435i. At the end of the post, a comparison between the two cameras is made with IR laser dot projector activated, showing a very good and detailed depth map for the OAK-D Pro. Since the operating distance of this example looks very similar to my setup, would it be possible to share the configuration used for the OAK-D Pro camera in this example? Moreover, would it be possible to know what the distance was to the closest object in the image?

Thank you!

44101

For the record the camera I'm using has MXID: 18443010D1DA39F500
Right now the result is bad (even though the closest point of the orange object is ~20cm from the camera). Increasing dot brightness seems to make things worse for some reasons.

jakaskerl

44101
I'd suggest not using depthai-viewer for this task since it is not meant for edge cases.

Try this script by altering the config according to the docs. Also make sure your environment is textured enough for stereo matching to work. Dot projector at close proximity is likely to cause more issues than it solves.

Thanks,
Jaka

44101

jakaskerl thank you for the prompt response, I will try that. Is there by any chance the possibility to get the parameters used in this post OAK-D Pro vs. Intel RealSense D435i in the meantime?

jakaskerl

44101
I'm afraid we don't have them saved. From the image I can assume it is pretty similar to https://docs.luxonis.com/software/depthai/examples/depth_post_processing/. Also, it's aligned to central camera.

Thanks,
Jaka