Hi, Right now we're using the [http://wiki.ros.org/depth_image_proc](http://wiki.ros.org/depth_image_proc "depth image proc") register node to register depth with rgb. Is it possible to do that on the depthai camera as well? Thanks in advance

registering depth and rgb on camera

WouterOddBot

Hi,

Right now we're using the http://wiki.ros.org/depth_image_proc register node to register depth with rgb. Is it possible to do that on the depthai camera as well?

Thanks in advance

jakaskerl

Hi @WouterOddBot
Yes, it is possible if you set i_align_depth: true, the default behaviour is that the depth is aligned to the center camera (usually RGB). Just make sure the RGB W and H are divisible by 16.

Thanks
Jaka

WouterOddBot

jakaskerl Sorry I should have known that. We used the camera's depth alignment before but it introduced too much latency for our purposes. I forgot about that…

(The depth image proc register node also introduces lots of latency. But then we can use camera depth images for computations requiring lower latency, and registered depth images for computations allowing higher latency.)