Hi @jakaskerl ,
here's the config for our depthai-ros node (sorry for the lost indentation):
/static_camera:
ros__parameters:
camera:
i_calibration_dump: false
i_enable_imu: false
i_enable_ir: true
i_external_calibration_path: ''
i_floodlight_brightness: 0
i_ip: '192.168.2.20'
i_laser_dot_brightness: 800
i_mx_id: 14442C109167F4D600
i_nn_type: none
i_pipeline_dump: false
i_pipeline_type: "RGBD" # RGB, RGBD, Stereo, RGBStereo, Depth, CamArray, Tof, DepthTof, StereoTof, RGBTof
i_publish_tf_from_calibration: false
i_restart_on_diagnostics_error: false
i_tf_base_frame: static_camera
i_tf_cam_pitch: '0.0'
i_tf_cam_pos_x: '0.0'
i_tf_cam_pos_y: '0.0'
i_tf_cam_pos_z: '0.0'
i_tf_cam_roll: '0.0'
i_tf_cam_yaw: '0.0'
i_tf_camera_model: ''
i_tf_camera_name: static_camera
i_tf_custom_urdf_location: ''
i_tf_custom_xacro_args: ''
i_tf_imu_from_descr: 'false'
i_tf_parent_frame: oak-d-base-frame
i_usb_port_id: ''
# i_usb_speed: SUPER_PLUS # SUPER_PLUS is only valid for USB 3.2 Gen 2x2 (20Gbps), which our system likely doesn’t support.
imu:
i_acc_cov: 0.0
i_acc_freq: 400
i_batch_report_threshold: 5
i_enable_rotation: false
i_get_base_device_timestamp: false
i_gyro_cov: 0.0
i_gyro_freq: 400
i_mag_cov: 0.0
i_max_batch_reports: 10
i_message_type: IMU
i_rot_cov: -1.0
i_sync_method: LINEAR_INTERPOLATE_ACCEL
i_update_ros_base_time_on_ros_msg: false
left:
i_add_exposure_offset: false
i_board_socket_id: 1
i_calibration_file: ''
i_disable_node: false
i_enable_feature_tracker: false
i_enable_lazy_publisher: true
i_enable_nn: false
i_exposure_offset: 0
i_fps: 5.0
i_fsync_continuous: false
i_fsync_trigger: false
i_get_base_device_timestamp: false
i_low_bandwidth: false
i_low_bandwidth_quality: 50
i_max_q_size: 30
i_publish_topic: false
i_resolution: 720P
i_reverse_stereo_socket_order: false
i_sensor_img_orientation: AUTO
i_set_isp3a_fps: false
i_simulate_from_topic: false
i_simulated_topic_name: ''
i_update_ros_base_time_on_ros_msg: false
r_exposure: 1000
r_iso: 800
r_set_man_exposure: false
static_camera:
rgb:
image_raw:
compressed:
format: jpeg
jpeg_quality: 95
png_level: 3
tiff:
res_unit: inch
xdpi: -1
ydpi: -1
compressedDepth:
depth_max: 10.0
depth_quantization: 100.0
format: png
png_level: 3
depth_max: 10.0
depth_quantization: 100.0
enable_pub_plugins:
- image_transport/compressedDepth
- image_transport/compressed
- image_transport/raw
- image_transport/theora
- image_transport/zstd
format: jpeg
jpeg_quality: 95
keyframe_frequency: 64
optimize_for: true
png_level: 3
quality: 31
target_bitrate: 800000
theora:
keyframe_frequency: 64
optimize_for: true
quality: 31
target_bitrate: 800000
tiff:
res_unit: inch
xdpi: -1
ydpi: -1
zstd:
zstd_level: 3
stereo:
image_raw:
compressed:
format: jpeg
jpeg_quality: 95
png_level: 3
tiff:
res_unit: inch
xdpi: -1
ydpi: -1
compressedDepth:
depth_max: 10.0
depth_quantization: 100.0
format: png
png_level: 3
depth_max: 10.0
depth_quantization: 100.0
enable_pub_plugins:
- image_transport/compressedDepth
- image_transport/compressed
- image_transport/raw
- image_transport/theora
- image_transport/zstd
format: jpeg
jpeg_quality: 95
keyframe_frequency: 64
optimize_for: true
png_level: 3
quality: 31
target_bitrate: 800000
theora:
keyframe_frequency: 64
optimize_for: true
quality: 31
target_bitrate: 800000
tiff:
res_unit: inch
xdpi: -1
ydpi: -1
zstd:
zstd_level: 3
rgb:
i_add_exposure_offset: false
i_board_socket_id: 0
i_calibration_file: ''
i_disable_node: false
i_enable_feature_tracker: false
i_enable_lazy_publisher: true
i_enable_nn: false
i_enable_preview: false
i_exposure_offset: 0
i_fps: 5.0
i_fsync_continuous: false
i_fsync_trigger: false
i_get_base_device_timestamp: false
i_interleaved: false
i_isp_den: 1
i_isp_num: 1
i_keep_preview_aspect_ratio: true
i_low_bandwidth: true
i_low_bandwidth_quality: 80
i_max_q_size: 30
i_output_isp: true
i_preview_height: 270
i_preview_size: 300
i_preview_width: 480
i_publish_topic: true
i_resolution: 4K
i_reverse_stereo_socket_order: false
i_sensor_img_orientation: AUTO
i_set_isp3a_fps: false
i_set_isp_scale: true
i_simulate_from_topic: false
i_simulated_topic_name: ''
i_update_ros_base_time_on_ros_msg: false
r_exposure: 20000
r_focus: 135
r_iso: 800
r_set_man_exposure: false
r_set_man_focus: true
r_set_man_whitebalance: false
r_whitebalance: 4500
right:
i_add_exposure_offset: false
i_board_socket_id: 2
i_calibration_file: ''
i_disable_node: false
i_enable_feature_tracker: false
i_enable_lazy_publisher: true
i_enable_nn: false
i_exposure_offset: 0
i_fps: 5.0
i_fsync_continuous: false
i_fsync_trigger: false
i_get_base_device_timestamp: false
i_low_bandwidth: false
i_low_bandwidth_quality: 50
i_max_q_size: 30
i_publish_topic: false
i_resolution: 720P
i_reverse_stereo_socket_order: false
i_sensor_img_orientation: AUTO
i_set_isp3a_fps: false
i_simulate_from_topic: false
i_simulated_topic_name: ''
i_update_ros_base_time_on_ros_msg: false
r_exposure: 1000
r_iso: 800
r_set_man_exposure: false
stereo:
i_add_exposure_offset: false
i_align_depth: false
i_bilateral_sigma: 0
i_board_socket_id: 0
i_depth_filter_size: 5
i_depth_preset: HIGH_ACCURACY
i_disparity_width: DISPARITY_96
i_enable_alpha_scaling: false
i_enable_brightness_filter: false
i_enable_companding: false
i_enable_decimation_filter: false
i_enable_disparity_shift: false
i_enable_distortion_correction: false
i_enable_lazy_publisher: true
i_enable_spatial_filter: false
i_enable_spatial_nn: false
i_enable_speckle_filter: false
i_enable_temporal_filter: false
i_enable_threshold_filter: false
i_exposure_offset: 0
i_extended_disp: false
i_get_base_device_timestamp: false
i_left_rect_add_exposure_offset: false
i_left_rect_enable_feature_tracker: false
i_left_rect_exposure_offset: 0
i_left_rect_low_bandwidth: true
i_left_rect_low_bandwidth_quality: 90
i_left_socket_id: 1
i_low_bandwidth: false # can't compress because of: [VideoEncoder(10)] [warning] Arrived frame type (14) is not either NV12 or YUV400p (8-bit Gray)
i_low_bandwidth_quality: 90
i_lr_check: true
i_lrc_threshold: 10
i_max_q_size: 30
i_output_disparity: false
i_publish_left_rect: false
i_publish_right_rect: false
i_publish_synced_rect_pair: false
i_publish_topic: true
i_rectify_edge_fill_color: 0
i_reverse_stereo_socket_order: false
i_right_rect_add_exposure_offset: false
i_right_rect_enable_feature_tracker: false
i_right_rect_exposure_offset: 0
i_right_rect_low_bandwidth: true
i_right_rect_low_bandwidth_quality: 90
i_right_socket_id: 2
i_set_disparity_to_depth_use_spec_translation: false
i_set_input_size: false
i_socket_name: rgb
i_spatial_nn_source: right
i_stereo_conf_threshold: 240
i_subpixel: true
i_subpixel_fractional_bits: 3
i_update_ros_base_time_on_ros_msg: false
use_sim_time: false
