How depth align with RGB at OAK-D SR?

OseongKwon

I'm trying to use the example code below for RGB Depth Alignment on an OAK-D SR product, but it doesn't work.

https://docs.luxonis.com/software/depthai/examples/rgb_depth_aligned

There is no dai.CameraBoardSocket.CAM_A socket, only CAM_B and CAM_C.

Most example codes assume the presence of CAM_A, CAM_B, and CAM_C sockets.

Please provide specific instructions on what steps I need to take to apply your example codes to a general-purpose OAK-D SR product.

OskarSonc

Hi OseongKwon ,

You're correct — the OAK-D SR only has two colour cameras connected to CAM_B and CAM_C, and does not have a CAM_A socket. That's why the example using CameraBoardSocket.CAM_A doesn't work — it's trying to use a camera that doesn't exist on your device.

Most of our RGB-Depth alignment examples are written for 3-camera devices, which have a dedicated RGB camera on CAM_A and two mono/stereo cameras.

For OAK-D SR, the stereo pair consists of two colour sensors, and the correct approach is slightly different. This example is designed specifically for OAK-D SR and shows how to set up stereo depth with the right camera configuration:

luxonis/depthai-pythonblob/main/examples/StereoDepth/depth_preview_sr.py - should give you some ideas on how to use the camera.

Let me know if you have any further questions.

Thanks,
Oskar