Vinay

Hi @Vinay

• Try lowering the confidence threshold: depth.setConfidenceThreshold(100)
• Apply postprocessing/filtering like median filter.

Thanks,
Jaka

Hi @Vinay

Vinay What do suspect the possible source of errors in the extrinsic calibration might be?

Your accuracy is limited by the sensor resolution. So you ground truth might be skewed by these small inaccuracies. The rectification can be a source of errors as well.

Vinay However it is the wider spread of z value for OAK-D pro (larger standard deviation) that I am more concerned with.

Take more images if you can and average the values temporally.

Thoughts?

Hi @Vinay

• Redo camera calibration (https://docs.luxonis.com/projects/hardware/en/latest/pages/guides/calibration/)
• i_laser_dot_brightness should be 800 for max luminosity.

Vinay Their extrinsic calibration were computed using checkerboard

That might not be accurate.

Vinay The mean z value for OAK-D, OAK-D Pro and D415

Compute median of the board and discard outliers. Should give a much better result.

Thanks,
Jaka