search

luxonis / depthai-ros

Official ROS Driver for DepthAI Sensors.
MIT License
239 stars 173 forks source link

How to use depthai API in ROS for spatial (distance) detection #356

Closed hangcui1201 closed 9 months ago

hangcui1201 commented 11 months ago

Hi,

A quick question that how can I use the depthai API in ROS for spatial detection?

I lunched "roslaunch depthai_examples stereo_node.launch". I have left, right and depth images. I also got the python demo code such as spatial_location_calculator.py work. In spatial_location_calculator.py, it uses the depthai to setup the device and do the spatial detection.

In my case, when I launch "roslaunch depthai_examples stereo_node.launch", the parameters of the camera has been set up. How can I use the depthai API to do spatial detection from the published images, such as /stereo_publisher/left/image, /stereo_publisher/right/image and /stereo_publisher/stereo/depth?

I am using oak-d-lite.

Thank you very much for the help!

Best, Hang

Serafadam commented 11 months ago

Hi, you can refer either to stereo_inertial_node to see how to set up custom pipeline, or you can use depthai_ros_driver node which also has detections enabled by default (though those two nodes publish detections in different formats).

saching13 commented 11 months ago

depthai-ros uses depthai api inside it. If you have a python code you want to convert to ros. Just add ros publishers to it. Or use of our nodes in ros driver which does the same. They can be configured with yaml here.

Serafadam commented 9 months ago

Closing due to inactivity, please reopen if there are still questions.