Hardware trigger of TOF sensor

precira

I have an OAK-D Pro SR (OAK ToF) camera and I have the following requirements:

I need a good depth image, which is aligned to a color image (in time and also pixel-wise (i.e. I know that pixel x-y on the depth image corresponds to pixel x-y on the color image))
I need to be able to hardware trigger the frame capture

The depth perception of the TOF sensor seems to be much better than the stereo-camera. I would therefore like to use TOF instead of stereo.

Is it possible to hardware trigger the TOF sensor and the color sensor at the same time?

Is there example code in depthai v3 of how to align TOF and color pixelwise?

jakaskerl

precira
luxonis/depthai-coreblob/main/examples/python/RVC2/ToF/tof_align.py

Afaik you can not HW trigger the TOF camera, so you are left with SW synchronization (at high FPS, the difference is minimal).

Thanks
Jaka

precira

Hi Jaka

Thank you for the quick reply. In this case, I would like to have the fps of the TOF as high as possible in order to decrease the average timestamp miss-match between the rgb-frame and the tof-frame.
According to https://docs.luxonis.com/software-v3/depthai/depthai-components/nodes/tof
It should be possible to go up to 160fps. However, if I do that, I get the following error:

RuntimeError: ToF out of memory; tried to allocate '86016'B out of '59392'B available

This is the code to reproduce it:

Can I increase the memory of the TOF? Is this the DDR-ram of the camera itself? This should be in principle much bigger than 86kB right?

jakaskerl

precira
At what FPS does this become a problem? Is the same thing also happening on V2?

Thanks,
Jaka

precira

I just saw in an warning message the following: S5K33D ToF: FPS higher than 80 (actual on sensor 160) may result in degraded image/depth quality

It therefore seems that setting 80 as sensor fps is the highest that is possible.