Open khuechuong opened 1 month ago
Hi, I think this is due to aligning process, for the PCL to be aligned properly both image planes need to encompass the same area, stereo image needs to be created from two images that need to be rectified which might result in a smaller FOV for both of them, and then that rectified image needs to be aligned to RGB frame which might introduce additional crop depending on the sensor. If you want to get larger FOV for stereo you can increase alpha scaling parameter accordingly, which should result in larger FOV.
so set i_enable_alpha_scaling: true
? like that? I just see a boolean. Is there another parameter can I increase to increase to FOV or is it just set it to true?
Hi, to set specific value for alpha you can use i_alpha_scaling
parameter in stereo, the values are from 0 to 1.0. Overall, you can check what parameters are available and how they are set here in the code, as for their detailed description you can refer to official documentation
ROS Noetic, rgbd_pcl.launch, Oak-D-Pro-POE-FF
So I wrote a code for a frostum that represents the FOV of oak-d-pro-ff-poe using the horizontal and vertical angle:
and
it's not exactly the same, but I think it's close enough. From what I saw in the specs, RGB fixed focus image has a 69 h fov/ 55 v fov respectively. However, as seen here:
when I had that marker in rviz, I had to lower it down to 62 and 37.5 just for the it to overlap a little. You notice there are a little bit sticking out of frostum. If I change it to 65/38, nothing would stick out. Is there a reason why the FOV decreases so much?