Hi We have two questions. 1\.First One: When we lunch ros with OAK-D Pro W(OV9782). we met some issue like below. We have two OAK-D ProW (ov9782) but it is the same issue we can see. Could you help us how to handle this issue? [upl-image-preview url=https://discuss.luxonis.com/assets/files/2024-07-23/1721710894-863598-screenshot-from-2024-07-22-17-54-56.png] 2\.Second one: We are using ROS(RViz) function with OAK-D Pro W(ov9782) now. But its seems 2 seconds delay between OAK-D Pro W and ROS(RViz). Do you think it is general? Or Could we reduce its delay lesser than 2 seconds? Best regards, Ryan.

OAK-D Pro W (OV9783) with ros

RyanLee

We have two questions.

1.First One:

When we lunch ros with OAK-D Pro W(OV9782). we met some issue like below. We have two OAK-D ProW (ov9782) but it is the same issue we can see. Could you help us how to handle this issue?

2.Second one:

We are using ROS(RViz) function with OAK-D Pro W(ov9782) now. But its seems 2 seconds delay between OAK-D Pro W and ROS(RViz). Do you think it is general? Or Could we reduce its delay lesser than 2 seconds?

Best regards,

Ryan.

erik

cc @Luxonis-Adam - first image looks like NV12/YUV format? Not sure how driver works, and how it could be 2 sec delay for visualization (is that normal)?

Luxonis-Adam

Hi, could you show the resulting image from stereo topic? I also think the transport chosen should be raw. Regarding delay, this is caused by the limitation of the PoE interface. Here you can find some more information on improving latency.

RyanLee

Luxonis-Adam Hi Adam thank you for your support. We already check the link you shared. Based on our test and your words. it seems that because of the limitation of the PoE Interface. Am I right? Then how about USB model. If we use USB model, then could we reduce its latency ??

Best regards,

Ryan.

Luxonis-Adam

Hi, yes, as mentioned in documentation USB has higher throughput. You could also explore external network cards that have higher throughput, but to get full speed USB is recommended.