My team is encountering issues with the OAK Camera and would like some help in identifying troubleshooting problems. Setup procedure is conducted as described from the Luxonis docs. Version: Ubuntu 22.04, ROS2 Humble Camera Version: OAK-4-PRO-W Setup: Injector used to connect to camera via dedicated cable, routed to the computer via a standard router. Equipment inspection: Cable has not been damaged (New) and the mounting port of the camera is clean. There is no visible damage on the lenses of the stereo camera. 1. When viewing scans in the oak-viewer (Ubuntu 22.04), there is a visible artifact in the depth cloud that is present even when the camera is covered/obscured. (See images attached). [upl-image-preview uuid=e3998659-4dc6-4bc5-8151-71a49237aefe url=https://discuss.luxonis.com/assets/files/2026-06-25/1782374545-79364-screenshot-from-2026-06-24-14-02-01.png alt={TEXT?}] [upl-image-preview uuid=ab8a6013-841a-40c6-9bc7-e85203867691 url=https://discuss.luxonis.com/assets/files/2026-06-25/1782374545-231222-screenshot-from-2026-06-24-14-01-53.png alt={TEXT?}] 2. Moreover, when trying to run the ROS2 driver (depthai_ros_driver_v3), the output from the depth topic only shows a partial view (Half the screen is obscured and are returning zeros) Causing depth data to only exist for the left side of the output data. (Video attached) [upl-file uuid=01b4ceee-98b7-45e4-8033-dd4b69a8c3b3 size=14MB]screencast-from-24-06-26-14-25-26.webm[/upl-file] Summary: Artifact: Present when turning on OAK viewer, since camera is brand new, firmware issues seem unlikely to us. The problem affects downstream processes (ROS2 drivers seem to also have this artifact when looking at the demo video). Depth image right panel: Only not showing in ROS2 but displays properly in OAK viewer, drivers were reinstalled, problem was fixed for one random reinstall for about 1 minute then it never worked since. \*If this would be helpful, GPU acceleration is currently not enabled in this setup due to a graphics driver version mismatch. Would appreciate any help we can get with the camera.

Hey @"YeeZhen"#p34046 - thanks for the details. The OAK Viewer “Missing Hardware Acceleration” warning is about the host PC/browser rendering path. It should not affect depth generation on the OAK-4 itself, though it can make point cloud visualization slower. For the depth artifact: since it is visible in the Depth Stream, not only the point cloud, it likely comes from stereo depth input/configuration/calibration rather than the point-cloud renderer. Please first confirm that both stereo lenses are fully covered, not just the RGB/center camera. If both stereo lenses are covered, depth should mostly go invalid/black. Please try: ```bash oakctl self-update oakctl device update ``` Then test with a minimal DepthAI v3 stereo example outside OAK Viewer. If the same artifact appears there with both stereo lenses fully covered, please send us the OAK Viewer version, Luxonis OS version, `oakctl --version`, and a screenshot/video from the minimal example. For the ROS issue: since OAK Viewer shows the full depth image, the ROS symptom may be separate from the camera depth generation itself. It could be a ROS driver/version/configuration issue or an image interpretation issue in the consumer. Please update to the latest DepthAI ROS v3 packages (`depthai_ros_driver_v3` on Humble) Best, Oskar

@"YeeZhen"#p34076 - great to hear, happy you got it working! Best, Oskar

Camera blindspot in ROS + Visible Artifact on Camera Output

YeeZhen

My team is encountering issues with the OAK Camera and would like some help in identifying troubleshooting problems. Setup procedure is conducted as described from the Luxonis docs.
Version: Ubuntu 22.04, ROS2 Humble
Camera Version: OAK-4-PRO-W
Setup: Injector used to connect to camera via dedicated cable, routed to the computer via a standard router.
Equipment inspection: Cable has not been damaged (New) and the mounting port of the camera is clean. There is no visible damage on the lenses of the stereo camera.

When viewing scans in the oak-viewer (Ubuntu 22.04), there is a visible artifact in the depth cloud that is present even when the camera is covered/obscured. (See images attached).

Moreover, when trying to run the ROS2 driver (depthai_ros_driver_v3), the output from the depth topic only shows a partial view (Half the screen is obscured and are returning zeros) Causing depth data to only exist for the left side of the output data. (Video attached)

screencast-from-24-06-26-14-25-26.webm

14MB

Summary:
Artifact: Present when turning on OAK viewer, since camera is brand new, firmware issues seem unlikely to us. The problem affects downstream processes (ROS2 drivers seem to also have this artifact when looking at the demo video).
Depth image right panel: Only not showing in ROS2 but displays properly in OAK viewer, drivers were reinstalled, problem was fixed for one random reinstall for about 1 minute then it never worked since.

*If this would be helpful, GPU acceleration is currently not enabled in this setup due to a graphics driver version mismatch.

Would appreciate any help we can get with the camera.

Oskar-Luxonis

Hey YeeZhen - thanks for the details.
The OAK Viewer “Missing Hardware Acceleration” warning is about the host PC/browser rendering path. It should not affect depth generation on the OAK-4 itself, though it can make point cloud visualization slower.

For the depth artifact: since it is visible in the Depth Stream, not only the point cloud, it likely comes from stereo depth input/configuration/calibration rather than the point-cloud renderer. Please first confirm that both stereo lenses are fully covered, not just the RGB/center camera. If both stereo lenses are covered, depth should mostly go invalid/black.

Please try:

oakctl self-update
oakctl device update

Then test with a minimal DepthAI v3 stereo example outside OAK Viewer. If the same artifact appears there with both stereo lenses fully covered, please send us the OAK Viewer version, Luxonis OS version, oakctl --version, and a screenshot/video from the minimal example.

For the ROS issue: since OAK Viewer shows the full depth image, the ROS symptom may be separate from the camera depth generation itself. It could be a ROS driver/version/configuration issue or an image interpretation issue in the consumer. Please update to the latest DepthAI ROS v3 packages (depthai_ros_driver_v3 on Humble)
Best,
Oskar

YeeZhen

Hi Oskar,
I have been testing the camera and narrowed it down to a reproducible issue concerning how the underlying ROS files are launched. Covering both stereo cameras do in fact black out the image, but the artifact will remain.
Just to confirm, I have the latest version of depthai_ros_driver_v3 shown in my terminal output below:

nimbus@nimpc0002:~/nimbus_ws/nimbus_v0$ sudo apt install ros-$ROS_DISTRO-depthai-ros-v3
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
ros-humble-depthai-ros-v3 is already the newest version (3.3.0-1jammy.20260625.195557).
0 to upgrade, 0 to newly install, 0 to remove and 0 not to upgrade.

To produce and remove the artifact reliably, I do the steps below (Shown in video as well)
* Have three terminals, one to run the minimal stereo depth example https://docs.luxonis.com/software-v3/depthai/examples/stereo_depth/stereo_depth/, another for ROS2 and one more just hosting rqt. rqt should be able to read the image topics from ROS2.
1) Start from the minimal publisher, the depth image has no artifact. Depth image is clean.
2) Turn off python example to release camera and launch the depthai viewer from the launch code provided on github. ros2 launch depthai_ros_driver_v3 driver.launch.py and ros2 run depthai_ros_driver_v3 driver_node both will recreate the problem.
3) Now quickly launch rqt. The depth image will initially fix itself, then revert to a squished view after a period of waiting. The camera raw image data does not change in this case. (I will run one finger across the squished view plane in the video to show that both stereo cameras are responsive.)
4) Turn off the ros2 node for the driver to release camera. Re run the minimal python example. The artifact will return (With varying sizes across tests).
5) To remove the artifact, I will cover the stereo cameras for 5 seconds then let go. The artifact will disappear and the depth image will revert to normal. This fix only works if I am running the minimal python example.
6) Now the artifact is gone and I am back to 1).

There are two ways the feed can be warped (Will attach videos)
1) Squished view where the image will be squished to 2/3rds of the width of the screen
2) Rotated view where the image will be rotated.

Videos:

reproducing-artifact.mp4

39MB

reproducing-rotation-warp.mp4

39MB

If it helps I will also paste the ROS2 launch output:

nimbus@nimpc0002:~/nimbus_ws/nimbus_v0$ ros2 launch depthai_ros_driver_v3 driver.launch.py 
[INFO] [launch]: All log files can be found below /home/nimbus/.ros/log/2026-06-29-11-36-28-308648-nimpc0002-20493
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [20515]
[component_container-1] [INFO] [1782729388.825204729] [oak_container]: Load Library: /opt/ros/humble/lib/librobot_state_publisher_node.so
[component_container-1] [INFO] [1782729388.830043694] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1782729388.830094858] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>
[component_container-1] [INFO] [1782729388.859328522] [oak_state_publisher]: got segment oak
[component_container-1] [INFO] [1782729388.859385947] [oak_state_publisher]: got segment oak_model_origin
[component_container-1] [INFO] [1782729388.859391232] [oak_state_publisher]: got segment oak_parent_frame
[component_container-1] [INFO] [1782729388.862329128] [oak_container]: Load Library: /opt/ros/humble/lib/libdepthai_ros_driver_v3.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak_state_publisher' in container '/oak_container'
[component_container-1] [INFO] [1782729388.957858654] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Driver>
[component_container-1] [INFO] [1782729388.958273351] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<depthai_ros_driver::Driver>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container'
[component_container-1] [INFO] [1782729389.961787976] [oak]: Starting driver.
[component_container-1] [INFO] [1782729389.963261296] [oak]: No ip/ID specified, connecting to the next available device.
[component_container-1] [INFO] [1782729390.969657862] [oak]: Driver with ID: 2836093237 and Name: 192.168.14.50 connected!
[component_container-1] [INFO] [1782729390.969767356] [oak]: PoE device detected. Consider enabling low bandwidth for specific image topics (see Readme->DepthAI ROS Driver->Specific device configurations).
[component_container-1] [INFO] [1782729391.087631829] [oak]: Device type: OAK-4-PRO-W
[component_container-1] [INFO] [1782729391.511517049] [oak]: Creating pipeline for device: OAK-4-PRO-W
[component_container-1] [INFO] [1782729391.511823283] [oak]: Pipeline type: RGBD
[component_container-1] [INFO] [1782729392.524048647] [oak]: Finished setting up pipeline.
[component_container-1] [ERROR] [1782729392.675705181] [oak]: Model name OAK-4-PRO-W not found in depthai_descriptions package. If camera model is autodetected, please notify developers. Using default model: OAK-D-S2
[component_container-1] [INFO] [1782729392.793862672] [oak]: Published URDF
[component_container-1] [WARN] [1782729392.794034650] [oak]: IMU extrinsics are not set. Publishing IMU frame with zero translation and RDF orientation.
[component_container-1] [WARN] [1782729393.036857742] [oak]: If you detect any issues with Kilted release, please report issues to GH: https://github.com/luxonis/depthai-ros/issues/719
[component_container-1] [INFO] [1782729393.048941732] [oak]: Driver ready!
[component_container-1] [INFO] [1782729393.125782649] [oak_state_publisher]: got segment oak
[component_container-1] [INFO] [1782729393.126266446] [oak_state_publisher]: got segment oak_model_origin
[component_container-1] [INFO] [1782729393.126459931] [oak_state_publisher]: got segment oak_parent_frame
[component_container-1] [2836093237] [192.168.14.50] [8798.756] [IMU(5)] [warning] Max sample rate for rotv sensor is: 200 Hz. Configured to max sample rate available.
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[component_container-1] [INFO] [1782729442.992272866] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[INFO] [component_container-1]: process has finished cleanly [pid 20515]

Thanks,
Yee Zhen

Oskar-Luxonis

Hey @YeeZhen - thanks, this is very useful.

Since the minimal DepthAI example is clean before launching ROS, but the artifact appears after running the ROS driver and can then persist into the minimal example, this points to some state being changed during the ROS pipeline rather than a basic camera streaming issue.

One thing still missing is the Luxonis OS version on the OAK-4. Since this is an OAK4 device, please first check/update the device OS and report which Luxonis OS version you are on. You need oakctl for updating the device.

oakctl list
oakctl device update

If the issue still happens after updating Luxonis OS, please try disabling pipeline AutoCalibration in ROS. AutoCalibration is turned automaticaly on updated >3.2.1. To disable it create a small params file:

/**:
  ros__parameters:
    driver:
      i_enable_ir: true
      i_pipeline_auto_calibration_mode: OFF
    pipeline_gen:
      i_pipeline_type: RGBD

Then launch with:

ros2 launch depthai_ros_driver_v3 driver.launch.py params_file:=/path/to/that_file.yaml

I also reported the error you to the dev team:
[component_container-1] [ERROR] [1782729392.675705181] [oak]: Model name OAK-4-PRO-W not found in depthai_descriptions package. If camera model is autodetected, please notify developers. Using default model: OAK-D-S2

Best,
Oskar

YeeZhen

Hi Oskar,
Turning off i_pipeline_auto_calibration_mode seems to have fixed the problem for us. The warping has stopped entirely. So I will take that as the final fix for this issue.
On the other hand, I have avoided to mention earlier that oakctl device update does not work for the camera to prevent the topic from deviating. This issue is preventing us from updating the device from the command line tool. I will paste some of the outputs. Feel free to move this over to another thread if necessary.

nimbus@nimpc0002:~$ oakctl list
+---+------------+------------+------------+-----------+-----------+-----------+
| # | Serial     | Device     | Connection | OS        | Agent     | Setup     |
|   | Number     |            |            |           | Version   |           |
+==============================================================================+
| 1 | 2836093237 | Luxonis,   | 192.168.14 | Luxonis   | 0.18.3    | Setup (un |
|   |            | Inc.       | .50        | OS RVC4   |           | adopted)  |
|   |            | OAK4-D R9  |            | 1.25.3    |           |           |
+---+------------+------------+------------+-----------+-----------+-----------+
nimbus@nimpc0002:~$ oakctl device update
Login token expired, re-authenticating...
> Camera password ********
Device Info:
  OS:			Luxonis OS RVC4 1.25.3
  Agent Version:	0.18.3 (rvc4)
  Architecture:		linux/arm64
  Model:		Luxonis, Inc. OAK4-D R9
  Serial Number:	2836093237
  Platform:		rvc4
  Connection:		192.168.14.50
> Is this the device you want to update? Yes
> Do you want to update to the latest version? Yes
✔ Starting firmware update...                                                   
✔ Update process initiated.                                                     
✔ Device is back online.                                                        
✖ Failed to update. Reason: Failed to download update package. Reason: error sending request for url (https://luxonisos-rvc4.fra1.digitaloceanspaces.com/OTA/full_update_luxonis_ext4-1.33.0.zip)                                               Device Info:
  OS:			Luxonis OS RVC4 1.25.3
  Agent Version:	0.18.3 (rvc4)
  Architecture:		linux/arm64
  Model:		Luxonis, Inc. OAK4-D R9
  Serial Number:	2836093237
  Platform:		rvc4

Checking internet using oakctl device info --check_internet returns:

nimbus@nimpc0002:~$ oakctl device info --check_internet
Device Info:
  OS:               Luxonis OS RVC4 1.25.3
  Agent Version:    0.18.3 (rvc4)
  Architecture:     linux/arm64
  Serial Number:    2836093237
  Model:            Luxonis, Inc. OAK4-D R9
  Setup:            OK
  Internet:         Unavailable
  Hub Adoption:     Unadopted
  GPU Support:      Enabled (1 device)
    - Adreno740v2

We suspect that the device is just not connected with the internet. This may be caused by our less conventional set up as we need to allow for other sensors to communicate with the network. We have attempted fixes which attempt to unpack the update locally from the laptop which did not work.
Setup details:
Computer (Using Wifi from Computer) -> Router -> Injector -> OAK Camera
If we were to set it up normally, the camera will attempt to draw an internet connection via the router. This is not possible as our robot is a mobile unit and we are hoping to use a wireless access point. Hence, the computer's wifi connection will not be prioritised and there will be no internet. As a workaround, the camera is routed as a standard peripheral. There is minimal documentation regarding internet sharing for OAK Cameras but it is already being done with one of our other peripherals, would want a quick confirmation if this is the best way forwards.
Below is the setup we have done to disable the camera's default networking route.

# Check IP route list
ip route show

# Look at your dfault connections, sometimes the router may make its connection the default, which makes no sense because its not connected to the internet.
ip route show default

# Let's delete it (Replace dev enp0s31f6 with the camera's ethernet name)
sudo ip route del default dev enp0s31f6 

# Lets make sure the net manager client is configured properly to reflect the changes made in ip
nmcli connection show
NAME                UUID                                  TYPE      DEVICE    
BT_Free_WiFi        dd2c390b-2461-4d88-be35-a2546a42dc38  wifi      wlp9s0    
Wired connection 1  1913c08f-c6fe-39be-826b-2bffb05fe940  ethernet  enp0s31f6
sbguest             52308418-a75a-4760-bd19-0efb3edbf393  wifi      --        
TP-Link_DE0A        f7131e06-6402-4650-a069-e7608c0e8b10  wifi      --        
Wired connection 2  8a20c99a-3bbc-3af1-8054-4dc76d340372  ethernet  --        

# Wired connection 1 is our camera so nullify its ipv4 settings
nmcli connection modify "Wired connection 1" ipv4.never-default yes

# Power up the wired connection
nmcli connection up "Wired connection 1"
Connection successfully activated (D-Bus active path: /org/freedesktop/NetworkManager/ActiveConnection/7)

# One last check to verity our settings
nmcli connection show "Wired connection 1" | grep never-default
ipv4.never-default:                     yes
ipv6.never-default:                     no

Thank you,
Yee Zhen

Oskar-Luxonis

Hey YeeZhen - great, thanks for confirming. If disabling i_pipeline_auto_calibration_mode fixed the warping, then that looks like the right workaround for the depth issue.

For the update issue: your device is on Luxonis OS RVC4 1.25.3, which is quite old now. The failure is consistent with the camera itself not having internet access:

Internet: Unavailable
Failed to download update package

oakctl device update normally expects the device to download the OTA package. Since your network setup does not give the OAK direct internet access, please use the manual OTA-file update method from the Luxonis OS docs(Update from device):

https://docs.luxonis.com/software-v3/sw-stack/luxonis-os/#Luxonis%20OS-Updating%20OS-Update%20from%20device%20(keep%20data)

Download the OTA zip on the host PC, copy it to the device, then run on the device:

agentconfd update /data/full_update_luxonis_ext4-1.33.0.zip
reboot

Important: use the OTA .zip directly, do not unpack it first.

After the device is updated, you can continue using the same no-internet camera network setup for normal operation.

For internet sharing: newer oakctl versions support USB internet sharing and also fully USB use if that is something that you would want to do. More here. But you have to update the device as written above.

Best,
Oskar

YeeZhen

Thanks Oskar.

I believe that solves all of the issues we are having with the driver. Our camera's OS is 1.33.0 and is has no further problems in the ROS/Python output.

For anyone stumbling upon this thread, this is was the update method that worked for me:

# Temporary variable to replace with confirmed latest version
# The format of the version is very important, it has to be as shown on the website,
# https://docs.luxonis.com/software-v3/sw-stack/luxonis-os/#Luxonis%20OS-Changelog
# for example, 1.33 will not work, only 1.33.0 is a valid version declaration
VERSION="1.33.0"

# 1) Download the file locally, as usual
wget "https://luxonisos-rvc4.fra1.digitaloceanspaces.com/OTA/full_update_luxonis_ext4-${VERSION}.zip" \
  -O "full_update_luxonis_ext4-${VERSION}.zip"
  
# 2) Copy the downloaded full_update_luxonis_ext4-{{ $os_version }}.zip image (via scp or adb push) to the device 
#    An example is shown below us. Breaking the code down:
#    "Run scp with the /path/to/.zip update file and clone it to root@deviceip,
#    in the directory /data in the root directory. I am doing it on 1.33.0"
scp full_update_luxonis_ext4-1.33.0.zip root@192.168.14.50:/data

# 2.5) ssh into the device, use "oakctl device list" to get the device ip.
#      Use the same password set in "oakctl device unlock" to proceed.
ssh root@192.168.14.50 # When this is done your terminal will be in the camera's OS.

# 3) When you get into the device run the commands specified from the OTS install link from the top.
#    ADB/SSH into the device first, then link your own data over.
#    If you did 2) right, you should be able to hit tab for autocomplete to find your file from /data in the list
agentconfd update /data/full_update_luxonis_ext4-1.33.0.zip
reboot  # reboot device after update

Oskar-Luxonis

YeeZhen - great to hear, happy you got it working!

Best,
Oskar