[BUG] rgbd_pcl inconsistent Resolution configuration

[TheMarksniper]

log_system_information.json Description: Running the rgbd_pcl.launch.py launcher file from depthai_ros_driver package with custom params_file is yielding an inconsistent resolution. Specified resolution (1920x1080, 1080P) set and checked against parameters ros2 param dump /oak and camera info ros2 topic echo /oak/rgb/camera_info give the right resolution. Inconsistency comes with the oak/rgb/image_raw topic as the output gives resolution of 1280x720. This problem is not present for the stereo topic as it changes properly according to the parameters.

used parameter file:

/oak:

  ros__parameters:

    camera:
      i_nn_type: none
      i_enable_ir: true
      i_laser_dot_brightness: 1200
      i_floodlight_brightness: 1500
      i_ip: 192.168.8.23

    rgb:
      i_resolution: 1080P
      i_width: 1920
      i_height: 1080
      rgb_i_set_isp_scale: true
      i_max_q_size: 1
      i_fps: 10.0

    stereo:
      i_subpixel: false
      i_enable_disparity_shift: true
      i_disparity_shift: 50
      i_max_q_size: 1
      i_align_depth: true

    right:
      i_resolution: 400P
      i_max_q_size: 1
      i_fps: 10.0

    left:
      i_resolution: 400P
      i_max_q_size: 1
      i_fps: 10.0

Error also exists while running - camera in depthai_ros_driver with same resolution parameters

Expected behavior: Image height and width being the same in the params ,camera_info and image_raw topics

Attached log: OS: Ubuntu 22.04.4 LTS ROS: ROS2 Humble Depthai installation: apt install

log_system_information.json

[Serafadam]

Hi, by default rgb camera is using ISP scaling which changes the image size, more information on that can be found in documentation

[TheMarksniper]

Hi, by default rgb camera is using ISP scaling which changes the image size, more information on that can be found in documentation

Sorry i should have read the documentation better (RTFM is allways true). Thank you for reply