Active stereo mode on ROS2

Jk511

Hi,

The OAK-D pro W doesn't seem to produce high quality point cloud for my current use case. I am playing with camera setting parameters. Is there an example on how to enable active stereo sensing via ROS2 interface? Thanks

jakaskerl

Hi @Jk511
Check a set of parameters you can set for device IR dot projector (https://docs-beta.luxonis.com/software/ros/depthai-ros/driver/#List%20of%20parameters)

I think:
i_enable_ir: true and i_laser_dot_brightness: 800 should be the most important ones. They should enable you to use the active stereo.

Thanks,
Jaka

Jk511

I tried a couple of approaches including your suggestion without much success.

For example,
The i_enable_ir and i_laser_dot_brightness parameters were updated as per your suggestions and launched the camera.launch.py from depthai-ros-driver package. The launch is successful, however, the point clouds are not being published.

The other experiment:
The stereo_inertial_node.launch.py was modified to set enableDotProjector and enableFloodLight to True and dotProjectormA and floodLightmA to 800. This time the point cloud was being published. However, there wasn't much improvement in the point cloud data quality. Are these the right modifications to enable active stereo mode?

What would be best launch file to test the point cloud data in general?

Thank you