• ROS
  • OAK-D PRO as STVL costmap layer input

Hi,

I've recently acquired a OAK-D PRO and I was wondering if anyone already tried to use it as input for the spatio temporal voxel layer for the NAV2 stack.

From my first tests using the pointcloud.launch.pythe produced pointcloud seems too noisy, even after enabling and tweaking the filters to improve the depth map quality, to be usable.

    7 days later

    Hi, sorry for the delay. Active stereo cameras in general can be pretty hard to provide consistent results in all environments in different lighting conditions. What I think could give the best results in terms of cleanliness of point clouds is to change i_depth_preset parameter to either DEFAULT or ROBOTICS and check how it works for you. You could also check out our ToF modules as those provide more dense pointclouds

    4 days later

    No problem. Unfortunately I already tried the different profiles and the different filters without any luck. I'll try with another sensor.

    Thanks for the reply.