Hey all,
I have recently got OAK 33D ToF sensor. I am having some difficulties with my use case, specifically I have two problems:
The V3 SDK only exposes dai.ImageFiltersPresetMode with three presets, with no option to complete the pipeline myself (because tof.build() method requires a preset). I would like to be able to configure the parameters for the ToF filters myself. Currently, the only parameters that can be tuned are ones under dai.ToFConfig. I think that having a dedicated config for ToF is fine, but it would be nice to configure all settings that are related to ToF sensor through it. In case it isn't fully clear which settings I mean, they are (may not be all):
TemporalFilterParams temporalFilterParams;
temporalFilterParams.enable = true;
temporalFilterParams.persistencyMode = TemporalFilterParams::PersistencyMode::PERSISTENCY_INDEFINITELY;
temporalFilterParams.alpha = 0.2f;
temporalFilterParams.delta = 60;
SpeckleFilterParams speckleFilterParams;
speckleFilterParams.enable = true;
speckleFilterParams.speckleRange = 4;
speckleFilterParams.differenceThreshold = 130;
SpatialFilterParams spatialFilterParams;
spatialFilterParams.enable = true;
spatialFilterParams.alpha = 0.5f;
spatialFilterParams.delta = 50;
spatialFilterParams.numIterations = 2;
spatialFilterParams.holeFillingRadius = 0;
MedianFilterParams medianFilterParams = MedianFilterParams::KERNEL_5x5;
The other problem is that getting ToF camera that is standalone is not possible with ROS2. The problem is that the config for "ToF" tries to detect the camera from supported list, and in my case because I only have the ToF sensor it fails because it expects multiple cameras (likely a hard-coded feature for another product). If I try to trick it by using RGBToF it auto-detects a different product and then fails.
In my individual use case, I would like to transmit the camera feed onto a ROS topic, however, trying to do that directly from the output queue causes high inefficiency with ~4 FPS throughput, hence why I am interested in the ROS2 implementation by Depthai - I would hope that it is more efficient.
