[Calibration] Recalibrate the OAK-D

[jonathanleinola]

Do I need to recalibrate the OAK-D? It seems that the point cloud is going through the walls. I tried to launch with [depthai_ros_driver] using the Noetic branch. If i need to calibrate it then how could i do it?

[jonathanleinola]

Here's an image of the issue

[Serafadam]

Hi, for easier debugging:

1. Can you show output of stereo_intertial_node
2. Can you also attach image of the depth stream?

[jonathanleinola]

Hi, sure! However, it seems that there are no stereo_intertial_node? I tried with launch files pointcloud.launch and rgbd_pcl.launch. The rgbd_pcl.launch file launches these nodes:

1. depth_image_convertion_nodelet (nodelet/nodelet)
2. depth_image_to_rgb_pointcloud (nodelet/nodelet)
3. nodelet_manager (nodelet/nodelet)
4. oak (nodelet/nodelet)
5. oak_state_publisher (robot_state_publisher/robot_state_publisher)

The output depth stream of the rgbd_pcl.launch:

[Serafadam]

That data look pretty noisy, do you mind sharing also left and right stream data? (this can be enabled by setting parameters in rgbd.yaml. You can also try changing stereo parameters and see if there are any improvements in your use-case. stereo_intertial_node is in depthai examples, so roslaunch depthai_examples stereo_inertial_node.launch WLS filtering should be merged this week, and it will help with making PCL a little denser, you can check progress here https://github.com/luxonis/depthai-ros/tree/wls_filter