High resolution stream from the RGB camera for aligning RGB and Depth images.

Saksham

Hi,
I am working with BW1098FFC board with modular cameras. With the current code, I am able to get 300 x 300 resolution from the RGB camera using the previewout stream. Since RGB camera supports resolution up to 4K, is it possible to get the RGB camera stream with a higher resolution instead of 300 x 300? I went through the documentation How-do-display-multiple-streams and I found this information -
`The available streams are:

metaout # Meta data results from the neural network
previewout # Small preview stream from the color camera
color # 4K color camera, biggest camera on the board with lens
left # Left grayscale camera (marked L or LEFT on the board)
right # Right grayscale camera (marked R or RIGHT on the board)
rectified_left # Rectified left camera frames
rectified_right # Rectified right camera frames
depth # Depth in uint16 (see here for the format.
disparity # Raw disparity
disparity_color # Disparity colorized on the host (to give a JET colorized visualization of depth)
meta_d2h # Device die temperature (max temp should be < 105C)
object_tracker # Object tracker results

However, when I run python3 depthai_demo.py -s color -o it fails stating color is not in available stream list. My code is up to date with the git repository main branch. Also, I am able to get the depth stream using the older "depth_raw" stream value but not with "depth" stream value.

Furthermore, I am working on Depth completion to improve the depth quality and I would like to align my depth image of 640 x 480 resolution with RGB image. It would be great if you can give some guidance over this on how I can achieve that.

I appreciate your time and help with this.

Brandon

Hi Saksham,

Sorry about the delay here! Somehow this one got marked as read for me. So yes, you can get the higher resolution with the color stream.

I think what happened in your case is that you updated the depthai example repository (this one) but the underlying library was not updated. (Ironically, we have a check for this in the newer codebase.)

So to make sure the latest library is installed. Do the following from the depthai example folder:
git pull
python3 -m pip install -U pip
python3 -m pip install -r requirements.txt

This should update you to depthai 0.3 version (which was released this week and has support for the high-res color stream output/etc.).

For depth to color alignment - I'm sorry to say that that is not released yet. We've been behind on our calibration efforts so that is not yet possible via our reference code (i.e. we have not yet written it). We will definitely have it out by the end of December though.

Thoughts?

Thanks,
Brandon