DIff b/w /oak/stereo/image_raw, /stereo/depth and /stereo/converted_depth

Jk511

Hi Luxonis team,

I am using OAK-D-PRO-W sensor via depthai-ros, ROS2 foxy version. My question is related to depth image.

Launching "camera.launch.py" from depthai_ros_driver produces "/oak/stereo/image_raw" topic While launching "stereo_inertialnode.launch.py" from depthai_examples produces more depth image topics such as "stereo/depth", "stereo/converted_depth".

What is the difference between these 3 topics?

I am working on an use case to detect obstacles using depth information by dividing the depth image FOV into 3x3 grid and check if there are any points in each grid within a certain distance from the camera. I am trying to avoid converting to point cloud as it adds additional computations. For this use case, which launch file or rather which of the above ros topics would be more appropriate?

Thank you

jakaskerl

@Luxonis-Adam

Luxonis-Adam

Hi, ROS topics are published with the help of image_transport package, you can check it's documentation to get more information on interfaces/configuration. Pointclouds are provided only when explicitly running PCL conversion node. Regarding topic names, they differ between examples as they were made separately.
On a separate note, we recommend using Humble distribution as Foxy is no longer supported by the ROS team.

Jk511

Thanks for responding, appreciate it.