[BUG] {How to publish rectified streams}

[y2d2]

Check if issue already exists

• Per request made in https://github.com/luxonis/depthai-ros/issues/54
• I also started a discussion on https://discuss.luxonis.com/d/2246-how-to-publish-the-rectified-streams-of-the-cameras-in-ros

Describe the bug Not sure how the rectified streams are published in ROS2. But it seems not to publish

Minimal Reproducible Example changed /opt/ros/humble/share/depthai_ros_driver/config/camera.yaml ( I had trouble making a separate yaml file to run so I adapted the base file directly.):

/oak:
  ros__parameters:
    camera:
      i_enable_imu: false
      i_enable_ir: true
      i_nn_type: none
      i_pipeline_type: Stereo
    stereo:
      i_publish_left_rect: false
      i_publish_right_rect: false
      i_publish_synced_rect_pair: false

run ros2 launch depthai_ros_driver camera.launch.py run ros2 topic list :

ros2 topic list
/diagnostics
/joint_states
/oak/left/camera_info
/oak/left/image_raw
/oak/left/image_raw/compressed
/oak/left/image_raw/compressedDepth
/oak/left/image_raw/theora
/oak/right/camera_info
/oak/right/image_raw
/oak/right/image_raw/compressed
/oak/right/image_raw/compressedDepth
/oak/right/image_raw/theora
/parameter_events
/robot_description
/rosout
/tf
/tf_static

Changed /opt/ros/humble/share/depthai_ros_driver/config/camera.yaml:

/oak:
  ros__parameters:
    camera:
      i_enable_imu: false
      i_enable_ir: true
      i_nn_type: none
      i_pipeline_type: Stereo
    stereo:
      i_publish_left_rect: true
      i_publish_right_rect: true
      i_publish_synced_rect_pair: true

run ros2 launch depthai_ros_driver camera.launch.py run ros2 topic list :

/diagnostics
/joint_states
/oak/left/camera_info
/oak/left/image_raw
/oak/left/image_raw/compressed
/oak/left/image_raw/compressedDepth
/oak/left/image_raw/theora
/oak/right/camera_info
/oak/right/image_raw
/oak/right/image_raw/compressed
/oak/right/image_raw/compressedDepth
/oak/right/image_raw/theora
/parameter_events
/robot_description
/rosout
/tf
/tf_static

It seems nothing has changed in the published topics.

Expected behavior I was expecting to see topics that show the rectified stream. Unless the image_raw now contains the rectified stream

Screenshots If applicable, add screenshots to help explain your problem.

Pipeline Graph I renamed the 12761857/1844301031DB391300_pipeline.json to .txt to be able to paste it here. the pipeline has been taken with the i_publish_xx_rect set to true. 1844301031DB391300_pipeline.txt

Attach system log I renamed the log_system_information.json to .txt to be able to paste it here. log_system_information.txt

Additional context I am not sure what other parameters have to be set to make the rectified streams work. I there documentation for all the parameters in this file? What their values can be and what their impact is?

[Serafadam]

Hi, could you try setting pipeline type to depth and see if that works?

[y2d2]

Hi @Serafadam, This worked, thanks! I appologise for using the wrong settings. Is there documentation on how the different parameters can be set and what the effects are ?

[Serafadam]

Glad that it worked, it seems that the pipeline type section in the documentation needs some additional information. In short - Stereo is creating a pipeline for two separate sensors and Depth additionally creates Depth publishing node which can output rectified stereo streams.