Because I want to use the ROS driver of depthai to publish the camera info for my 3 cameras of the OAK-D-PRO-WIDE, I experimented with using this yaml file to run the rgbd_pcl.launch.py file:
/oak:
ros__parameters:
driver:
i_enable_ir: false
i_publish_tf_from_calibration: false
pipeline_gen:
i_nn_type: none
i_enable_rgbd: true
i_pipeline_type: RGBD
stereo:
#i_depth_preset: DEFAULT
# uncomment for better performance in RVC2 PoE devices
i_publish_topic: true
i_reverse_stereo_socket_order: true
i_publish_synced_rect_pair: true
i_right_rect_publish_topic: true
i_left_rect_publish_topic: true
rgb:
i_fps: 15.0
i_publish_topic: true
i_calibration_file: dai_ws/src/depthai-ros/depthai_ros_driver/config/calibration/rgb.yaml
left:
i_publish_topic: true
i_fps: 15.0
i_calibration_file: dai_ws/src/depthai-ros/depthai_ros_driver/config/calibration/left.yaml
right:
i_publish_topic: true
i_fps: 15.0
i_calibration_file: dai_ws/src/depthai-ros/depthai_ros_driver/config/calibration/right.yaml
The built in calibration script from depthai will save the calibration in rational-polynomial distortion model, meanwhile I wanted the output to be in plumb-bob model, so I switched to using calibration files with the tags as shown in the yaml file.
I expected the camera info topics to output the correct calibration data, but it is mixing between the calibration data from the EEPROM as well as in the calibration file at the same time (sometimes it it outputing from EEPROM while sometimes it is outputing from the calibration file).
I tried to view this through foxglove and it is really hard to capture the specific moments where they are outputing the wrong thing because the data is changing at a very high frequency. Therefore, I sadly can't provide any images.
I am using Ubuntu 22.04, working with ROS2 Humble. I built depthai-ros from source and installed depthai-core manually. There doesn't seem to be any dependencies issues attached to this.
Because I want to use the ROS driver of depthai to publish the camera info for my 3 cameras of the OAK-D-PRO-WIDE, I experimented with using this yaml file to run the rgbd_pcl.launch.py file:
The built in calibration script from depthai will save the calibration in rational-polynomial distortion model, meanwhile I wanted the output to be in plumb-bob model, so I switched to using calibration files with the tags as shown in the yaml file.
I expected the camera info topics to output the correct calibration data, but it is mixing between the calibration data from the EEPROM as well as in the calibration file at the same time (sometimes it it outputing from EEPROM while sometimes it is outputing from the calibration file).
I tried to view this through foxglove and it is really hard to capture the specific moments where they are outputing the wrong thing because the data is changing at a very high frequency. Therefore, I sadly can't provide any images.
I am using Ubuntu 22.04, working with ROS2 Humble. I built depthai-ros from source and installed depthai-core manually. There doesn't seem to be any dependencies issues attached to this.