NickDeboar Hey, Im running this example: https://docs.luxonis.com/software-v3/depthai/examples/stereo_depth/stereo_depth/ The mono left/right cameras are getting much more of a wide view than what the stereo image is producing. Ive attempted to show an example, see attached. I get there needs to be overlap in both cameras but look at left/right i feel the stereo view should be a bit wider than it is. Is this as wide as the stereo view will go? Cheers, Nick Dbeoar
jakaskerl NickDeboar The wide stereo cameras are undistorted and rectified. A lot of FOV is lost because there is a lot of distortion on these cameras. You can add thisstereo.setAlphaScaling(1) to show the whole (even invalid) depth. Thanks, Jaka
OskarSonc Hey @NickDeboar That’s expected behavior with that example — especially on OAK D Wide models, since the stereo output only shows the overlapping (rectified) region of both mono cameras. You can tweak a few settings to make the view a bit wider: Disable strict consistency check: stereo.setLeftRightCheck(False) Use a faster preset for less aggressive filtering: stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.FAST_DENSITY) Visualize the full rectified area (including cropped edges): stereo.setAlphaScaling(1.0) Hope this helps, Oskar
NickDeboar Can I get a point cloud with a wider FOV using this method? Even if it has some invalid depth, just be interesting to test.
OskarSonc You can display a wider rectified frame, but stereo depth is only valid in the overlap of left/right views. Outside that, disparity is invalid (NaN) — so it’ll look wider, but won’t have real 3D points.
