I am using a OAK-SR PoE and I find my configuration is rather limited on computation and bandwidth.
We need:
- ToF depth with at least 30FPS (no temporal filtering etc)
- Aligned depth (and RGB) only when a detection is made in depth
Aligning depth requires quite significant computational power/bandwidth even when computed on host. When all three streams are active (ToF, RGB, aligned depth), my system does not achieve 30FPS. When aligned depth is not active, much higher FPS is achieved.
Can you provide a function to do alignment on host for just a single frame and not as a pipeline stream? This is as alignment is computed on host anyway, and the RGB stream input of the align_depth node is only used once to retrieve relative pose of the sensors.
This way alignment can be done only when needed and purely on the host.
