I am using a PoE Camera with ROS2. I started using it with the following config:
/oak:
ros__parameters:
rgb:
i_publish_topic: false
i_fps: 5.0
left:
i_fps: 5.0 # Also defines the point cloud fps - 2fps leads to auto exposure problems, other fps seem to work
i_resolution: 400P # 640x400
right:
i_fps: 5.0
i_resolution: 400P
stereo:
i_publish_topic: true # point cloud not published without this
i_align_depth: true
i_board_socket_id: 2
i_subpixel: true
i_publish_right_rect: true # needed for point cloud to be published
i_right_rect_synced: false
camera:
i_nn_type: none
i_enable_imu: false
However, the quality of the point cloud was very poor in comparison to when used via the depthai-viewer. I did some testing and found the following config works a lot better:
/oak:
ros__parameters:
rgb:
i_publish_topic: true
i_fps: 5.0
left:
i_fps: 5.0 # Also defines the point cloud fps - 2fps leads to auto exposure problems, other fps seem to work
i_resolution: 400P
right:
i_fps: 5.0
i_resolution: 400P
stereo:
i_publish_topic: true # point cloud not published without this
i_align_depth: true
i_socket_name: rgb
i_board_socket_id: 0
i_subpixel: true
i_publish_right_rect: true # needed for point cloud to be published
camera:
i_nn_type: none
i_enable_imu: true
i_enable_ir: true
However, even though the point cloud is a lot better, I get this warning:
[point_cloud_xyzi]: Depth image frame id [oak_rgb_camera_optical_frame] doesn't match image frame id [oak_right_camera_optical_frame]
When I change the stereo i_board_socket_id
to 2, the warning disappears but the point cloud is bad again.
What are the correct parameter setting to use here?