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orbbec / ros_astra_camera

ROS wrapper for Astra camera
Apache License 2.0
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Can't change RGB image size #111

Open julieta-prieto opened 4 years ago

julieta-prieto commented 4 years ago

I'm doing some tests with the Orbbec Astra Stereo S using stereo_s_u3.launch and I'm having trouble with getting the same image size in depth and rgb images .

The camera provides a depth image of 640x400 and an RGB image of 640x480, but since I need that both images have the same size I tried to change it in the launch file using the width and height parameters. Unfortunately, I can't find any combination of size and frame rate accepted by the camera, so nothing is shown on the RGB image, and the following error is shown:

image

I have also tried to change it using rqt_reconfigure, but the changes doesn't apply and the /camera/rgb/camera_info is always the same.

Could you please let me know which changes are needed to get the same size on RGB and depth image?

facontidavide commented 4 years ago

Let me complement this with additional information (I am working with @julieta-prieto ).

We used rqt_reconfigure to change the three resolutions:

image

Unfortunately, the size of the RGB image is not changed:

image

On the other hand, the resolution of the depth image is fine:

image

As expected, this create a wrong alignment between pointcloud and color:

image