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VideoEncoder is now used automatically on PoE devices for compressed image transport. Only 8-bit camera images or disparity images can be encoded. So Subpixel is not supported. This reduces long range depth accuracy and causes layering effects as shown in luxonis/depthai#184 and Stereo subpixel effect on layering. So for PoE devices, it is better to use stereo input than rgbd input. There may be improvements in the future, such as luxonis/depthai-core#875 or see if DisparityWLSFilter helps. |
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Thanks for the MR! |
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I have received OAK-D Pro W PoE. Its IMU local transform is easy to determine, it has the same orientation as the USB model, but with a different offset. What is more troublesome is the communication bandwidth. I couldn't get enough camera frame rate and IMU frame rate with the previous configuration. The official documentation says a lot about this. I'll have to see what tuning needs to be done.
In addition, the previous USB models equipped with BMI270 also have IMU frame rate problems. Certain algorithms may be affected.