Closed Victorsoeby closed 1 year ago
Serafadam
commented
1 year ago Hi, it seems parameter related as they are set up for cameras with mono sensors, I'll change them in the next PR, in the meantime, could you check if changing left_i_set_isp_scale: false & right_i_set_isp_scale: false resolve that issue?
Victorsoeby
commented
1 year ago Hi @Serafadam, thanks for the quick reply. This solved some but not all of my issues. I can now successfully launch several of the launch files, and can have both the RGB image and depth image stream. It seems, however, that the depth align does not work correctly, as i am getting this from the camera.launch.py file:
root@victor-Legion-5-Pro-16ACH6H:/# ros2 launch depthai_ros_driver camera.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2023-04-28-09-57-33-757235-victor-Legion-5-Pro-16ACH6H-178
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [192]
[INFO] [component_container-2]: process started with pid [194]
[robot_state_publisher-1] [INFO] [1682675853.922572649] [oak_state_publisher]: got segment oak
[robot_state_publisher-1] [INFO] [1682675853.922658059] [oak_state_publisher]: got segment oak-d-base-frame
[robot_state_publisher-1] [INFO] [1682675853.922682363] [oak_state_publisher]: got segment oak_imu_frame
[robot_state_publisher-1] [INFO] [1682675853.922702685] [oak_state_publisher]: got segment oak_left_camera_frame
[robot_state_publisher-1] [INFO] [1682675853.922721262] [oak_state_publisher]: got segment oak_left_camera_optical_frame
[robot_state_publisher-1] [INFO] [1682675853.922740048] [oak_state_publisher]: got segment oak_model_origin
[robot_state_publisher-1] [INFO] [1682675853.922757786] [oak_state_publisher]: got segment oak_rgb_camera_frame
[robot_state_publisher-1] [INFO] [1682675853.922775804] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame
[robot_state_publisher-1] [INFO] [1682675853.922793054] [oak_state_publisher]: got segment oak_right_camera_frame
[robot_state_publisher-1] [INFO] [1682675853.922810164] [oak_state_publisher]: got segment oak_right_camera_optical_frame
[component_container-2] [INFO] [1682675854.153322066] [oak_container]: Load Library: /ws/install/lib/libdepthai_ros_driver.so
[component_container-2] [INFO] [1682675854.189981076] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-2] [INFO] [1682675854.190084504] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Camera>
[component_container-2] [INFO] [1682675854.195066242] [oak]: No ip/mxid specified, connecting to the next available device.
[component_container-2] [INFO] [1682675860.937841715] [oak]: Camera with MXID: 184430109159A30F00 and Name: 10.3.3.66 connected!
[component_container-2] [INFO] [1682675860.937984881] [oak]: PoE camera detected. Consider enabling low bandwidth for specific image topics (see readme).
[component_container-2] [INFO] [1682675860.960688140] [oak]: Device type: OAK-D-PRO-W-POE-97
[component_container-2] [INFO] [1682675860.965839795] [oak]: Pipeline type: RGBD
[component_container-2] [INFO] [1682675860.981345111] [oak]: NN Family: mobilenet
[component_container-2] [INFO] [1682675861.029812792] [oak]: NN input size: 300 x 300. Resizing input image in case of different dimensions.
[component_container-2] [INFO] [1682675861.068007685] [oak]: Finished setting up pipeline.
[component_container-2] [INFO] [1682675862.255802479] [oak]: Camera ready!
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container'
[component_container-2] [184430109159A30F00] [10.3.3.66] [7.224] [StereoDepth(4)] [error] Stereo alignment error: 1, trying to recover.
[component_container-2] [184430109159A30F00] [10.3.3.66] [12.142] [StereoDepth(4)] [error] Stereo rectification error: 1, trying to recover.
[component_container-2] [184430109159A30F00] [10.3.3.66] [49.335] [StereoDepth(4)] [error] Stereo alignment error: 2, trying to recover.
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
As far as i know i should have an aligned depth topic avaliable, right? These are the ones i can see when doing ros2 topic list
root@victor-Legion-5-Pro-16ACH6H:/# ros2 topic list
/btAction
/joint_states
/oak/imu/data
/oak/nn/spatial_detections
/oak/rgb/camera_info
/oak/rgb/image_raw
/oak/rgb/image_raw/compressed
/oak/rgb/image_raw/compressedDepth
/oak/rgb/image_raw/theora
/oak/stereo/camera_info
/oak/stereo/image_raw
/oak/stereo/image_raw/compressed
/oak/stereo/image_raw/compressedDepth
/oak/stereo/image_raw/theora
/parameter_events
/robot_description
/rosout
/tf
/tf_staticBy the way i changed branch to humble for other reasons. This also has the left/right_i_set_isp_scale: false issue. Any thoughts on how to proceed here?
I have an OAK-D camera that ran with USB, which i had working with this repo on the noetic branch. I was able to run the dockerized setup and have all the topics appear on my local machine and within the container without any issues. Now i have set up the OAK-D Pro POE camera, and was looking forward to use the wide angle sensor. However, when i try to run it through docker in the same setup i am getting errors no matter which of the launchfiles in depthai_ros_driver i try to run. This is the camera.launch.py for instance:
My docker-compose file looks like this:
I have tried using the depthai_python repo to see if it is my setup or a hw fault in my camera, but this is working just fine. I also looked into if the container can actually see the camera through the POE setup, but from the errormessage it appears the camera is accessible. Has anyone tried the same? I find it quite confusing that it says the sensor resolution is (845, 534)