Request help on OAK-D SR PoE ToF camera

CooperPeng

Hi, we recently bought a OAK-D SR PoE ToF camera, it connected with office network using PoE. And I installed OAK viewer to test the connection, I can only see Vision AI and Advanced pipelines, there is no Vision 3D pipe lines, also I cannot find the depth/point cloud pipelines.
Then I used the depthai v3 python API to get the device information, there is the output -
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Searching for all available devices... Found device '192.168.1.188', DeviceID: '194430102104612E00', State: 'BOOTLOADER' Booting the first available camera (192.168.1.188)... Available camera sensors: {<CameraBoardSocket.CAM_C: 2>: 'OV9782', <CameraBoardSocket.CAM_A: 0>: 'S5K33D', <CameraBoardSocket.CAM_B: 1>: 'OV9782'} Product name: OAK-D-SR-POE, board name EL2086 Board revision: R4M3E4
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And this is the output of device.getConnectedCameraFeatures()
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[{socket: CAM_A, sensorName: S5K33D, width: 640, height: 480, supportedTypes: [TOF], hasAutofocus: 0, hasAutofocusIC: 0, name: tof}, {socket: CAM_B, sensorName: OV9782, width: 1280, height: 800, supportedTypes: [COLOR], hasAutofocus: 0, hasAutofocusIC: 0, name: left}, {socket: CAM_C, sensorName: OV9782, width: 1280, height: 800, supportedTypes: [COLOR], hasAutofocus: 0, hasAutofocusIC: 0, name: right}]
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But I meet another issue when running - pipeline.start()
it says RuntimeError: Camera(0) - No available sensor config available for requested output configurations: Request 0: size: 640x480, fps: 30, type: unset, resizeMode: CROP
Can you help me to resolve the above issues, many thanks

OskarSonc

Hey @CooperPeng
Please start from the ToF-specific v3 example — it sets up the S5K33D correctly:
https://docs.luxonis.com/software-v3/depthai/examples/rvc2/tof/tof

For ToF you can’t treat CAM_A like a regular color camera (no ISP/crop/resize paths). Follow that example to enable the ToF mode and stream depth first; you can add point cloud on top once that’s working.

Thanks,
Oskar

CooperPeng

Hi @OskarSonc, thank you very much for the reply. I was able to successfully run the script below
https://docs.luxonis.com/software-v3/depthai/examples/rvc2/tof/tof

I have another question is for OAK Viewer desktop app v1.4.49, I can only see one stream called H.264, I cannot see depth stream or point cloud stream, is this normal?

The second question is is there any off the shelf point cloud visualization example python code that I can use to test OAK-D SR PoE ToF camera? I tried to run code in https://docs.luxonis.com/software-v3/depthai/examples/rgbd/rgbd/, but has an issue -
RuntimeError: Camera(2) - No available sensor config available for requested output configurations: Request 0: size: 640x400, fps: 30, type: 9, resizeMode: CROP
Should I run ToF code first then run the point cloud code as you suggested?

Another question is does Luxonis provide any ToF and stereo depth fusion example code?

Looking forward to your reply!

OskarSonc

CooperPeng I have another question is for OAK Viewer desktop app v1.4.49, I can only see one stream called H.264, I cannot see depth stream or point cloud stream, is this normal?

afaik there is not ToF depth/point-cloud support for OAK Viewer yet...

CooperPeng The second question is is there any off the shelf point cloud visualization example python code that I can use to test OAK-D SR PoE ToF camera? I tried to run code in https://docs.luxonis.com/software-v3/depthai/examples/rgbd/rgbd/, but has an issue -
RuntimeError: Camera(2) - No available sensor config available for requested output configurations: Request 0: size: 640x400, fps: 30, type: 9, resizeMode: CROP
Should I run ToF code first then run the point cloud code as you suggested?

You cannot use normal examples with TOF camera since it has diffrent sensor as I wrote before... You have to change how sensors are setup...

You can check this example out:
luxonis/oak-examplestree/main/depth-measurement/3d-measurement/tof-pointcloud