BriceRenaudeau
commented
8 months ago /**:
ros__parameters:
rgb:
i_disable_node: true # no rgb
camera:
i_enable_imu: false
i_enable_ir: true
i_floodlight_brightness: 0
i_ip: ''
i_laser_dot_brightness: 1100 #1100
i_mx_id: ''
i_nn_type: none
i_pipeline_type: depth
i_usb_port_id: ''
i_usb_speed: HIGH
i_pipeline_dump: true
i_calibration_dump: false
i_external_calibration_path: ''
left:
i_board_socket_id: 1
i_calibration_file: ''
i_get_base_device_timestamp: false
i_fps: 15.0
i_height: 720
i_low_bandwidth: false # To reduce bandwith for POE cam
i_low_bandwidth_quality: 50
i_max_q_size: 30
i_publish_topic: true
i_simulate_from_topic: false
i_disable_node: false
i_resolution: '400'
i_width: 1280
r_exposure: 1000
r_iso: 800
r_set_man_exposure: false
right:
i_board_socket_id: 2
i_calibration_file: ''
i_get_base_device_timestamp: false
i_fps: 15.0
i_height: 720
i_low_bandwidth: false
i_low_bandwidth_quality: 50
i_max_q_size: 30
i_publish_topic: false
i_simulate_from_topic: false
i_disable_node: false
i_resolution: '400'
i_width: 1280
r_exposure: 1000
r_iso: 800
r_set_man_exposure: false
stereo:
i_align_depth: false # Align with color, not needeed
i_subpixel: true # Allowing further maximum distance, and better accuracy w/in given range. https://docs.luxonis.com/projects/api/en/latest/tutorials/configuring-stereo-depth/#stereo-subpixel-mode
i_get_base_device_timestamp: false
i_output_disparity: false # For WSL filter
i_bilateral_sigma: 0 # For Bilateral Sigma filter
i_board_socket_id: 2
i_depth_filter_size: 0 # For median filter. Disabled as no compatible with extended disparity
i_disparity_width: DISPARITY_96 # Disparity search range: 64 or 96 pixels are supported by the HW.
i_set_disparity_to_depth_use_spec_translation: false # To use calibration setero entrax
i_enable_companding: true # Disparity companding using sparse matching. Matching pixel by pixel for N disparities. Matching every 2nd pixel for M disparitites. Matching every 4th pixel for T disparities. In case of 96 disparities: N=48, M=32, T=16. This way the search range is extended to 176 disparities, by sparse matching. Note: when enabling this flag only depth map will be affected, disparity map is not
i_extended_disp: true # Supporting closer-in minimum depth (by a factor of 2): Extended disparity
i_subpixel_fractional_bits: 5 # Increase to 5 to reduce layering effect
# i_depth_preset: HIGH_ACCURACY # Conflicts with some other params when manually set. HIGH_ACCURACY: prefers accuracy over density. More invalid depth values, but less outliers.
i_enable_decimation_filter: false # For decimation filter
i_decimation_filter_decimation_factor: 2 # For decimation filter. Not used
i_enable_distortion_correction: true # For correcting lense distorsion, should be left to true
i_enable_spatial_filter: false # For Spation filter. Not used
i_spatial_filter_hole_filling_radius: 2 #
i_spatial_filter_alpha: 0.5 #
i_spatial_filter_delta: 20 #
i_spatial_filter_iterations: 1 #
i_enable_speckle_filter: false # For speckle filter. To check
i_speckle_filter_speckle_range: 200
i_enable_temporal_filter: false # For temporal filter, not used (no sense on a moving robot)
i_enable_threshold_filter: true # For range filtering. To check
i_threshold_filter_min_range: 0
i_threshold_filter_max_range: 5000
i_height: 720
i_low_bandwidth: false
i_low_bandwidth_quality: 50
i_lr_check: true # Eliminating shadowing from running disparity in only one direction: left/right check (runs disparity in both directions)
i_lrc_threshold: 10
i_max_q_size: 30
i_rectify_edge_fill_color: 0
i_stereo_conf_threshold: 150
i_width: 1280
i_enable_brightness_filter: true
i_brightness_filter_min_brightness: 10
i_brightness_filter_max_brightness: 254
Serafadam
Branch: ROS Iron Camera: OAK-D-Pro W
Describe the bug Since release 2.8.1 the camera topic frequency has been wrong and unstable (should be 15Hz):
Expected behavior It was working great on 2.8.0: