Enable the left and right images when running the stereo_inertial_node

[LanWu076]

When I run the roslaunch depthai_examples stereo_inertial_node.launch, I can have depth images and point cloud. Is there a way to enable the left and right cameras streams as well?

[Serafadam]

Hi, to enable left and right streams in stereo_inertial_node you would have to edit the source code, you can publish LR streams with depth_aligned argument, though that disables rgb pointcloud. Having both stereo, rgb, left and right streams is available in depthai_ros_driver, when respective parameters are set.

[HanDaSeul]

@Serafadam how? Is it 'stereo_inertial_node.py' in the launch folder, right? I just modified 'depth_aligned' to False, that makes stream left and right and disables rgb pointcloud as you said, but with rgb disabled. True is defult and that makes only rgb streams, not left and right streams.

[Serafadam]

Hi I meant this launch file and these parameters

[LanWu076]

Hi @Serafadam,

Thank you for the reply. In depthai_ros_driver, I set up the parameters to have them (left, right, depth, and point cloud) successfully but the point cloud is not as good as when running the depthai_examples, as mentioned in (#285).

Is there a way to have good point cloud when enabling the left and right images in depthai_ros_driver?

Thanks