MarcoFoi

Dear friends,
this is my firs experience with OAK-D camera and it is a week I am struggling around what I thought was a trivial task: getting two images: one containing depth and one containing rgb.. ..but pixel aligned an synked.

I have an OAK-D S2 camera, I got the basics of the Pipeline flow with all its Nodes and XLinks stuff. I did my homework at best of my possibilities.

I am running all at 10 FPS and my goal is to keep the maximum resolution of the mono cameras (1280x800) by degrading the RGB one to 1280x800.

I set same FPS to all 3 cameras
I set all resolutions manually in bot mono and color cameras
I properly linked mono cameras to StereoDepth,
I issue messages to trigger ColorCamera to capture Still images,
I use LeftRightCheck = true ,
I set stereoDepth output size to 1280x800
I set "stereoDepth.setDepthAlign(dai.CameraBoardSocket.RGB)"

..but whatever I do, I get something wrong. Either resolutions do not match what I define in code (!!) or the FOV do not correspond.

Why is that so complex? Does anyone have a code snippet around?

I am planning to operate my OAK-D camera vertically. The baseline will be vertical, the two stereo cams will be one above the other.

Will be there any major drawback?

The purpose of this unconventional mounting and operating the camera is to use the wider HFOV in place of the VFOV.

I will be using the camera to scan along a very near surface (around 80 cm far from camera) and I need to capture the widest vertical strip of the target.

I also considered the WIDE version of the OAK-D but the wider lens (wider also in vertical) would add significative distortion to the pictures.

I am accepting any other hint about how to get the same result with other means than physically rotating the camera.