ROS parameters interpretation

marlu

Hi,
could you please closely describe parameters rgb_i_height, rgb_i_width and rgb_i_resolution from camera.yaml config in depthai_ros_driver? I understood height and width as separate information on frame dimensions, but it does not meet the resolution value setting in the default camera.yaml config. What is the relation of mentioned parameters?

erik

cc @Luxonis-Adam

Luxonis-Adam

Hi, as mentioned in Readme, camera by default uses ISP scaling for rgb isp output (so for example it scales 1080P resolution by 2/3). If you disable ISP scaling, then rgb camera outputs video stream, which can be then controlled with width and height parameters. More information on ColorCamera can be found in documentation.