Seeking Solution to Get Color Rectified Images with OAK-FFC 4P and OV9782 Cameras

[tarekmuallim]

Hi,

I am using an OAK-FFC 4P board with two OV9782 color camera modules. I want to obtain rectified left and right images, but the stereo node only provides grayscale rectified images. Is there a way to get rectified color images, or is there a workaround to calculate them?

[tarekmuallim]

Just a friendly reminder about issue #1180—any updates would be greatly appreciated. 👋
Thank you!

[artur-ag]

I am also interested in this. I found this thread, but I'm finding that the output of the ImageManip node is not exactly the same as the stereo's rectified output...

[tarekmuallim]

Hi @artur-ag

I tried the example provided at this link, and it works well. I modified the rectification function to handle three channels instead of just one.

However, I'm looking for a solution to obtain the rectified color frame directly from the OAK module itself.

[artur-ag]

@tarekmuallim I believe I fixed the problem on the code of the other thread (see PR). With this, I am now getting rectified RGB from the OAK module (from ImageManip) that looks the same as the rectified grayscale coming from the StereoDepth node. However, I had to change meshCellSize = 16 to 20, otherwise I get a glitchy image in blocks.