J
JohnSymonds

  • Jan 10, 2022
  • Joined Sep 7, 2021
  • 0 best answers
  • In Jello effect when using OAK-1 on drone

    The enclosure for the OAK-D-Iot looks great!

    I have an OAK-D_Iot 75 sitting unused in the box here so I will be keen to buy one of those cases when they become available.

    The OAK-D-POE-CM4 sounds awesome. Any rough idea when those may be available to purchase?

    I hope that you do make the follow-on with the M12 connector and active illumination. Since USB is not very practical for industrial applications (due to cable length restrictions). I found the current depth perception on non-textured surfaces was not good enough to use for my use case unfortunately. Could I ask the part numbers for the laser / LED illumination components. I would like to look up the specs on the datasheets to anticipate what it may be capable of (if possible).

    • erik replied to this.
    • In Jello effect when using OAK-1 on drone

      erik Thanks for your response. I have looked at that example previously. I am wondering however how well the alignment actually is as you travel away from the centre of the image. The set IspScaling 2/3, seems to use that ratio to adjust the 1080 of the color camera down to 720p. However the FOV of the color and mono lens are slightly different to each other so perhaps therefore pixel alignment away from the centre of the lens is less accurate the further you go out? Just wondering really - as I don't know what coding is under the hood to compensate for the alignment besides the IspScaling ratio.

      Also noticed in the code snippet above this comment:

      • For now, RGB needs fixed focus to properly align with depth.
      • This value was used during calibration
        camRgb.initialControl.setManualFocus(130)

      This also highlights one of the earlier issues raised with non-fixed lens cameras, that being the difficulty experienced when trying to maintain a given pixel / mm size with an adjustable focus lens. (In this case the size needed to remain the same for alignment purposes against the mono cameras pixels.)

        • In Jello effect when using OAK-1 on drone

          Brandon I actually need the higher pixel resolution of the IMX378 since I need to perform a digital zoom (via ImageManip crop) to effectively reduce the FOV. (with the camera running in 4K mode to expose the native resolution of the sensor).

          I have considered the OV9782 as something I will try sometime - but I haven't got around to ordering any of those modules yet since the drivers are not fully integrated yet.

          Off topic, do you have any plans in the future to make enclosures for the OAK-D-CM4 modules - similar in design to the OAK-D-POE enclosure?. I feel like these would improve the usability somewhat for this model which has a lot of potential (as the CM4 can run OpenCV code on the CM4 device, and hence can be used to create standalone networkable smart cameras with in device OpenCV support). You will remember the type of feedback received during the original kickstarter campaign (for the wifi version) which somewhat reinforces the value given to a design with an enclosure.

            • In Jello effect when using OAK-1 on drone

              Brandon
              Happy to hear you are considering a fixed focus IMX 378 - i know I would be keen on that myself as I would like to use the OAK-D-POE versions in industrial applications and the current variable focus for me is not ideal due to possible vibration / and pixel size calibration complications. Variable focus may be an advantage for some uses, but it is a disadvantage for others.

              A FOV the same as current color FOV is fine. However, you could also consider that if the IMX378 had exactly the same FOV as the depth cameras then it may be easier in software for overlaying depth data and positions onto the RGB image more easily. I am not sure if that is an option available to you. When arducam end up stocking these fixed focus cameras modules it will be great. I would be prepared to uncemented the current camera module and replace it to gain fixed focus.

                • In Jello effect when using OAK-1 on drone

                  Brandon I am wondering if this is enough reason to consider giving more thought towards support for the option of using a color camera module with a fixed focus lens (on non-FFC modules). Something with a similar depth of field to the b&w depth cameras. If the upcoming OpenCV AI kit Lite is being made smaller with the suggestion it may be able to be mounted on drones and other moving vehicles etc, this issue with vibration on the non-fixed lens cameras modules may become more apparent. Is there any fixed focus, pin / driver compatible modules out there for the color camera port?