mdhawan

Hello,

I am new to OAK-D and cameras in general. I have been using the following basic script to capture RGB and depth information. However, I am facing issues recording them at high frame rates. I cannot figure out the root cause of the problem.

I am using a Cat 6 Ethernet cable directly connected to my laptop. Below are the camera specifications:

• Available Camera Sensors:
  {<CameraBoardSocket.CAM_C: 2>: 'OV9282', <CameraBoardSocket.CAM_A: 0>: 'OV9782', <CameraBoardSocket.CAM_B: 1>: 'OV9282'}

• Product Name: OAK-D-PRO-POE-FF-97

• Board Name: NG9097

I am trying to use this setup for tracking a ball. Any help or guidance would be greatly appreciated! Below is the script I am currently using:

import depthai as dai

import cv2

import os

from datetime import datetime

# Frame rate setting

FPS = 30

# Create output directory

output_dir = "oakd_recordings"

if not os.path.exists(output_dir):

os.makedirs(output_dir)

# File paths for saving video and depth data

timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")

video_file = os.path.join(output_dir, f"video_{timestamp}.avi")

depth_file = os.path.join(output_dir, f"depth_{timestamp}.avi")

# Create DepthAI pipeline

pipeline = dai.Pipeline()

# Define RGB camera

cam_rgb = pipeline.create(dai.node.ColorCamera)

cam_rgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)

cam_rgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_800_P)

cam_rgb.setVideoSize(1280, 800)

rgb_out = pipeline.create(dai.node.XLinkOut)

rgb_out.setStreamName("video")

cam_rgb.video.link(rgb_out.input)

# Define depth streams

mono_left = pipeline.create(dai.node.MonoCamera)

mono_right = pipeline.create(dai.node.MonoCamera)

stereo = pipeline.create(dai.node.StereoDepth)

depth_out = pipeline.create(dai.node.XLinkOut)

mono_left.setBoardSocket(dai.CameraBoardSocket.CAM_B)

mono_right.setBoardSocket(dai.CameraBoardSocket.CAM_C)

mono_left.setResolution(dai.MonoCameraProperties.SensorResolution.THE_800_P)

mono_right.setResolution(dai.MonoCameraProperties.SensorResolution.THE_800_P)

stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_ACCURACY)

stereo.setDepthAlign(dai.CameraBoardSocket.CAM_A)

stereo.setSubpixel(True) # Improves depth accuracy

stereo.setLeftRightCheck(True)

stereo.setRectifyEdgeFillColor(0) # Fills invalid depth with interpolated values

mono_left.out.link(stereo.left)

mono_right.out.link(stereo.right)

stereo.depth.link(depth_out.input)

depth_out.setStreamName("depth")

# Set frame rates

cam_rgb.setFps(FPS)

mono_left.setFps(FPS)

mono_right.setFps(FPS)

# Start the pipeline

with dai.Device(pipeline) as device:

# Get video and depth queues

video_queue = device.getOutputQueue(name="video", maxSize=8, blocking=False)

depth_queue = device.getOutputQueue(name="depth", maxSize=8, blocking=False)

device.setIrLaserDotProjectorBrightness(1200)

device.setIrFloodLightBrightness(800)

# Setup OpenCV video writers

video_writer = cv2.VideoWriter(video_file, cv2.VideoWriter_fourcc(\*'XVID'), FPS, (1280, 800))

depth_writer = cv2.VideoWriter(depth_file, cv2.VideoWriter_fourcc(\*'XVID'), FPS, (1280, 800), isColor=False)

print("Recording started. Press 'q' to stop.")

start_time = datetime.now()

while True:

    # Read and display RGB video frame

    video_frame = video_queue.get()

    video_data = video_frame.getCvFrame()

    video_writer.write(video_data)

    cv2.imshow("RGB Video", video_data)

    # Read and display depth frame

    depth_frame = depth_queue.get()

    depth_data = depth_frame.getFrame()  # 16-bit raw depth data (in mm)

    depth_writer.write(depth_data)

    # Normalize depth data for visualization

    depth_vis = cv2.normalize(depth_data, None