Maximize RGB FOV OAK D Wide Camera

Guggenheim

Hello!

I am trying to do some basic RGB video recording to test the viability of the OAK D Wide Camera for my project.

How can I set the RGB camera to have maximum FOV?

Bonus points: setting the combine Stereo Camera image to have maximum FOV?

Thank you.

erik

Hi Guggenheim ,
You need to use the ISP output of the ColorCamera to get the full FOV. See the example here: full-fov-nn.
Thanks, Erik

Russ76

https://github.com/luxonis/depthai-python/blob/main/examples/VideoEncoder/rgb_full_resolution_saver.py

Guggenheim

and this will work ok even though the factory calibration for my OAK-D Wide says it's boardName is Oak-D-S2?

erik

Hi Guggenheim , Yes, I don't have my camera calibrated either and I get the full FOV (isp output) color stream from the camera.

Brandon

For anyone needing to maximize the FOV, see here:

https://docs.luxonis.com/projects/api/en/latest/tutorials/maximize_fov/?highlight=max%20fov#maximizing-fov

We recently wrote up this detailed how-to.

ChristianN

Hey @eric-soderberg / @Brandon , a clarifying question here. The "Maximizing FOV" tutorial states

the video output is cropped to 4k (max 3840x2160 due to the limitation of the video output)

implying that there is some fundamental limitation about video encoding that forces this aspect ratio? Is it not possible to get the full vertical FOV as well as the wide FOV using the video encoder?

erik

Hi @ChristianN ,
You can downscale 12MP (eg. via ispScale, or link isp output to ImageManip to convert it to NV12) and then feed it to the VideoEncoder.

ChristianN

Excellent, I'll try that thank you!

ChristianN

Just wanted to report back that I was able to figure it out, but took a bit more finagling than I thought and I may have done it a very stupid way.

First, I calculated the aspect ratio of 12 MP, then used that to calculate the optimal video width after fixing the video encoder height to be 4k (2160). I then used the ratio of new width to 12 MP width to compute the ispScale value. But setIspScale also only takes integer ratios with max numerator / denominator values quite small so I rounded those by finding the closest approximating integers. But then h265 requires height to be a multiple of 8 and width to be a multiple of 32, so it required a bit of further cropping to ensure these multiples are preserved.

The result of all this is a frame that is very close to full FOV, but still with some minimal cropping. I'm happy with it and honestly pretty exhausted from banging my head against these ratios, so I welcome anybody with a better answer 🙂