We are trying to reduce network usage of our OAK-D Pro W PoE cameras, and thought that enabling on-device compression would achieve that. However, from debugging the ROS node code, it looks like the device is sending both the raw and the compressed image in that mode? That then of course increases network usage.
Is that the case? And if so, can the sending of the raw image be disabled somehow?
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
