I've added support for the OAK-D-SR-POE TOF camera in the depthai demo app to preview the color and tof streams from it, but the stream stops responding after 1-2 seconds.
Here's the function I'm using to add the TOF pipeline in the depthai_sdk/managers/pipeline_manager.py file
def createTofCam(self,
xout=False,
pipeline=None,
args=None):
"""
Creates :obj:`depthai.node.ToF` node based on specified attributes
Args:
xout (bool, Optional): If set to :code:`True`, a dedicated :obj:`depthai.node.XLinkOut` will be created for this node
pipeline (depthai.Pipeline, Optional): Pipeline instance
args (Object, Optional): Arguments from the ArgsManager
"""
if pipeline is None:
pipeline = self.pipeline
if args is not None:
return self.createTofCam(
tofSocket=args.tofSocket,
xout=Previews.tofDepth.name in args.show,
pipeline=pipeline,
args=args
)
pipeline = dai.Pipeline()
tof = pipeline.create(dai.node.ToF)
# Configure the ToF node
tofConfig = tof.initialConfig.get()
# Optional. Best accuracy, but adds motion blur.
# see ToF node docs on how to reduce/eliminate motion blur.
tofConfig.enableOpticalCorrection = True
tofConfig.enablePhaseShuffleTemporalFilter = True
tofConfig.phaseUnwrappingLevel = 4
tofConfig.phaseUnwrapErrorThreshold = 300
tofConfig.enableTemperatureCorrection = False # Not yet supported
xinTofConfig = pipeline.create(dai.node.XLinkIn)
xinTofConfig.setStreamName("tofConfig")
xinTofConfig.out.link(tof.inputConfig)
tof.initialConfig.set(tofConfig)
cam_tof = pipeline.create(dai.node.Camera)
cam_tof.setFps(60) # ToF node will produce depth frames at /2 of this rate
# cam_tof.setVideoSize((640, 400))
cam_tof.setBoardSocket(dai.CameraBoardSocket.CAM_A)
cam_tof.raw.link(tof.input)
xout = pipeline.create(dai.node.XLinkOut)
xout.setStreamName("depth")
tof.depth.link(xout.input)
self.nodes.tof = tof
self.nodes.cam_tof = cam_tof
self.nodes.tof_xout = xout
self.nodes.tofConfig = tof.initialConfig.get()
if xout:
self.nodes.xoutTofDepth = pipeline.createXLinkOut()
self.nodes.xoutTofDepth.setStreamName(Previews.tofDepth.name)
self.nodes.tof.depth.link(self.nodes.xoutTofDepth.input)
return self.nodes.tof
Moving back to the color camera on the combo box resumes normal streaming of the color preview, but the TOF preview stays stuck on the same frame and stops responding.
Would appreciate any help!
