@Guillaume and I are testing the OAK-D Pro Wide camera and evaluating the quality of pointcloud. The pointcloud appear to be distorted with a curving pattern on all the side. (camera is pointing upwards viewing the ceiling)
Pointcloud:
![](https://i.imgur.com/0yT7XDx.gif)
Front View:
![](https://discuss.luxonis.com/assets/files/2023-06-22/1687444586-823599-oak-frontview.png)
Top View:
![](https://discuss.luxonis.com/assets/files/2023-06-22/1687444597-241928-oak-topview.png)
The default rgbd_pcl.launch.py
from depthai_ros_driver
is showing the same pattern.
ros2 launch depthai_ros_driver rgbd_pcl.launch.py use_rviz:=true
Front View:
![](https://discuss.luxonis.com/assets/files/2023-06-22/1687444670-280459-rgbp-pcl-front.png)
Top View:
![](https://discuss.luxonis.com/assets/files/2023-06-22/1687444680-766120-rgbp-pcl-top.png)
Tested this on OAK-D Pro(non wide) version and they are showing the same result too. Would appreciate any advice to improve the depth performance!