[Feature-Request] Get full stereo FOV by using alpha_scaling

[BriceRenaudeau]

Why:

We are using the OAK-D-PRO W.

Using ROS driver, the field of view of the depth image is limited to the rectified image.

What:

We want to get the full field of view for the depth image.

How:

This limitation is due to 2 points:

1. The alpha_scaling parameter isn't exposed (I was ready to open a PR to expose it)
2. The camera_info topic is not modified to fit the field of view

In the following screenshot, you can see the stereo-depth image applying a 0.5 alpha_scaling, but the 3D points are not are the right place in the world (3D points must fit the laser scan).

[doisyg]

That would be incredibly useful to finally be able to use the full FoV in ROS ? @CenekAlbl

[Serafadam]

Hi @BriceRenaudeau @doisyg , I've updated the codebase to modify the intrinsics based on alpha factor, you can test it out on this branch. If the feature works as expected, then I will add it to the next release.

[BriceRenaudeau]

Hi, bad news it seems it doesn't work. Strangely the frequency has decreased, it cannot keep 15Hz and is down to ~13Hz. The depth image applies the alpha_scaling but the camera info seems wrong. Here is the camera_info I got (r is identity and d is zero):

---
header:
  stamp:
    sec: 1696413708
    nanosec: 857345536
  frame_id: oak_front_right_camera_optical_frame
height: 720
width: 1280
distortion_model: rational_polynomial
d:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
k:
- 566.3484497070312
- 0.0
- 656.9843139648438
- 0.0
- 566.8724365234375
- 368.1535949707031
- 0.0
- 0.0
- 1.0
r:
- 1.0
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
- 0.0
- 0.0
- 1.0
p:
- 566.3484497070312
- 0.0
- 656.9843139648438
- 0.0
- 0.0
- 566.8724365234375
- 368.1535949707031
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
binning_x: 0
binning_y: 0
roi:
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: false
---

[BriceRenaudeau]

The frequency issue doesn't seem to be related to this commit.

[Serafadam]

Pushed out an update, d and r parameters should be updated

[BriceRenaudeau]

Thanks, I tested it and it looks good to me. :+1:

I still have frequency issues, I will investigate and create an issue about it.

I will be waiting for an Iron version.