OAK-D-LR Pointcloud

rsantan

Hello, I was wondering if there was a way already in place to use the 3 lenses of the OAK-D-LR to output the point cloud instead of using just one. I am using the ros_driver package on Humble.

jakaskerl

Hi rsantan
Currently you need two cameras to compute depth and display the pointcloud. Using multiple cameras would mean you would need multiple stereo nodes which to my knowledge is not yet supported in base depthai-core, so I doubt it is possible in ROS. cc @Luxonis-Adam Can you confirm this?

Thanks,
Jaka

Luxonis-Adam

Hi, as mentioned above having multiple Stereo configurations is at this moment is not supported in the driver itself, although you could try creating your own custom pipeline plugin via ROS plugin interface with those nodes inside, you can refer to how current pipelines are setup.