# DataSet Notes 20230412t1 #

This is a dataset taken by the wide baseline OAKD mono pair on the OAK-FFC-4P-PoE, mounted with a flat port window in a 3d-printed housing. Here are some notes:

  * images were taken at roughly 3 hz, asynchronous sampling on the color and mono cameras continues to be a problem.
  * most of the images are of a bottom of the tank, where a few AprilTags are on the floor. 
  * we made use of Bastian's 6DOF controller to roll the ROV. 
  * the cameras mounted are all aligned correctly, but a flip between left and right must be done to correct for physical mounting versus socket name. 

- Eric Martin 2023-04-12