Can not change stereo image size

LynX19

I saw stereo image size never change even config have different. OAK-D-PRO, Ubuntu 22.04 , ROS Humble, depthai_ros_driver_v3 binaries

ros2 topic echo --once /oak_front/stereo/camera_info 
header:
  stamp:
    sec: 1778029955
    nanosec: 715012494
  frame_id: oak_front_rgb_camera_optical_frame
height: 720
width: 1280

Config just simple like this

    stereo:
      i_fps: 15.0
      i_height: 360
      i_width: 640

OskarSonc

LynX19 - what you see is expected if stereo depth is being aligned to RGB.

/oak_front/stereo/camera_info is describing the published stereo/depth output, and in your case the clue is:

frame_id: oak_front_rgb_camera_optical_frame
width: 1280, height: 720

That means the stereo depth is aligned to the RGB camera, so the final /stereo/* output uses the RGB-aligned frame/size. In that mode, stereo.i_width / stereo.i_height affect the stereo processing path, but /stereo/camera_info can still show the aligned RGB output size.

If you want /oak_front/stereo/camera_info to reflect the raw stereo size, I would try this:

stereo:
  i_aligned: false
  i_width: 640
  i_height: 360
  i_fps: 15.0

If you want to keep aligned depth, then you also need to change the align-target camera output size, not only stereo.i_width/i_height.

Thanks,
Oskar