False depth

asif

Why does the OAK-D-POE generate the false depth information? Look at the generated depth of the printed face (flat surface). I captured the following image using gen2-wls-filter and 0.6m distance of camera to image.

erik

Hi asif , that's the side effect of the WLS filter. Please try without the WLS filter (eg. this exmaple).
Thanks, Erik

asif

erik
Running this example on OAK-D Poe PRO, I get the following error after it displays initial few frames.

[2023-03-31 18:20:25.772] [warning] Monitor thread (device: 1944301021D1741300 [192.168.178.180]) - ping was missed, closing the device connection
Traceback (most recent call last):
File "/oak-d/rgb-depth-align-12mp.py", line 101, in <module>
queueEvents = device.getQueueEvents(("rgb", "disp"))
ValueError: Device already closed or disconnected

How can I fix this?

asif

Thanks @erik . The example you mentioned (RGB Depth Alignment ) has a frame synchronization problem. There is a lag or time difference in RGB and Depth frame. I tried the gen2-syncing example but that synchronizes mono and RGB frames. What is the relevant example where I can find simultaneous alignment and synchronization of RGB-Depth frames?

erik

Hi asif ,
I have prepared a demo here: https://github.com/luxonis/depthai-experiments/blob/master/gen2-syncing/host-rgb-depth-sync.py
Thanks, Erik

asif

@"erik" thank you. Depth is synchronized with the RGB now.

erik

Hi asif ,
Seems like a connectivity issue, or perhaps invalid pipeline. Could you provide full MRE? https://docs.luxonis.com/en/latest/pages/support/
Thanks, Erik

erik

Could you also take a photo of your setup? and try to run without the color camera, so just left/right?

asif

I can now (Depthai version installed: 2.20.2.0) run your example rgb-depth-align-12mp.py (which is without wLS filter) but still i get false depth at eyes region and border of A4 page.

erik

Hi asif ,

How off is the depth? Colorized depth looks good. Please also check Improving depth accuracy docs.

Thanks, Erik