Hi, I am currently working on OAKD-pro to publish left and right images synced (mainly for VIO).
I think depthai_ros provides ros parameter for publishing stereo with the same timestamp.
Below is from README (https://github.com/luxonis/depthai-ros#depth-alignment)
You can also set i_publish_synced_rect_pair: true to get both images with the same timestamps.
However, setting this parameter to true does not give me time-synced left and right image topics.
Looking forward to the reply!
Here is the config file I used for the ros2 foxy package.
Stereo images at 15Hz, IMU (unite imu method=LINEAR_INTERPOLATE_ACCEL)
camera:
i_enable_imu: true
i_enable_ir: false
i_floodlight_brightness: 0
i_ip: ''
i_laser_dot_brightness: 800
i_mx_id: ''
i_nn_type: none
i_pipeline_type: Stereo
i_usb_port_id: ''
i_usb_speed: SUPER_PLUS
i_pipeline_dump: false
i_calibration_dump: false
i_external_calibration_path: ''
left:
i_board_socket_id: 1
i_calibration_file: ''
i_get_base_device_timestamp: true
i_fps: 15.0
i_height: 400
i_low_bandwidth: false
i_low_bandwidth_quality: 50
i_max_q_size: 30
i_publish_topic: true
i_simulate_from_topic: false
i_disable_node: false
i_resolution: '400'
i_width: 640
r_exposure: 1000
r_iso: 800
r_set_man_exposure: false
nn:
i_nn_config_path: depthai_ros_driver/mobilenet
i_disable_resize: false
i_enable_passthrough: false
i_enable_passthrough_depth: false
rgb:
i_board_socket_id: 0
i_simulate_from_topic: false
i_get_base_device_timestamp: true
i_disable_node: false
i_calibration_file: ''
i_enable_preview: false
i_fps: 15.0
i_height: 720
i_interleaved: false
i_keep_preview_aspect_ratio: true
i_low_bandwidth: false
i_low_bandwidth_quality: 50
i_max_q_size: 30
i_preview_size: 300
i_publish_topic: false
i_resolution: '1080'
i_set_isp_scale: true
i_isp_num: 2
i_isp_den: 3
i_output_isp: true
i_width: 1280
r_exposure: 20000
r_focus: 1
r_iso: 800
r_set_man_exposure: false
r_set_man_focus: false
r_set_man_whitebalance: false
r_whitebalance: 3300
right:
i_board_socket_id: 2
i_calibration_file: ''
i_get_base_device_timestamp: true
i_fps: 15.0
i_height: 400
i_low_bandwidth: false
i_low_bandwidth_quality: 50
i_max_q_size: 30
i_publish_topic: true
i_simulate_from_topic: false
i_disable_node: false
i_resolution: '400'
i_width: 640
r_exposure: 1000
r_iso: 800
r_set_man_exposure: false
stereo:
i_align_depth: true
i_get_base_device_timestamp: true
i_output_disparity: false
i_bilateral_sigma: 0
i_board_socket_id: 0
i_depth_filter_size: 5
i_depth_preset: HIGH_ACCURACY
i_disparity_width: DISPARITY_96
i_enable_companding: false
i_enable_decimation_filter: false
i_enable_distortion_correction: true
i_enable_spatial_filter: false
i_enable_speckle_filter: false
i_enable_temporal_filter: false
i_enable_threshold_filter: false
i_extended_disp: false
i_height: 720
i_low_bandwidth: false
i_low_bandwidth_quality: 50
i_lr_check: true
i_lrc_threshold: 10
i_max_q_size: 30
i_rectify_edge_fill_color: 0
i_stereo_conf_threshold: 255
i_set_input_size: false
i_input_width: 1280
i_input_height: 720
i_width: 1280
i_publish_right_rect: true
i_publish_left_rect: true
i_publish_synced_rect_pair: true
i_reverse_stereo_socket_order: true
use_sim_time: false
I am also attaching left and right image topic inside foxglove.
