OAK-D-Pro as a realsense replacement, with a bonus.

Bryan · 2023-07-25T15:06:21+00:00

I have an application currently serviced by an intel realsense d415 providing aligned RGBD data at 640x480x30fps two 5MP cameras used for single frame captu...

Bryan

I have an application currently serviced by

an intel realsense d415 providing aligned RGBD data at 640x480x30fps
two 5MP cameras used for single frame captures of an overlapping, roughly 7MP area.

I've purchased an OAK-D-Pro autofocus and I'm having trouble configuring it to get all the data I require while maintaining 30 fps rate using the ROS drivers.

I'd like to configure the OAK to provide

aligned RGBD data at 64048030fps
full frame RGB data (4056x3040) single shot.
I will not be needing the RGBD stream during single shot frame capture, which i assume helps.

Is the above possible? If so may I have some pointers to configure the camera correctly? I expect this is beyond the current capacity of the ROS driver, but I am comfortable writing my own depthai to ros adapter to achieve these goals.

jakaskerl

Hi Bryan
It should be possible, yes.

I recommend camera control example. By pressing 'c', you are able to capture still images while also viewing live stream.
And RGB-D aligned example.
Fuse these two together and it should work as you expect it to.

Thanks,
Jaka