Hey Robotik123 - your bandwidth results show about 14–15 FPS for each topic when tested alone. The lower FPS when viewing or recording all three streams is therefore likely in the combined ROS 2/DDS, network, rendering, or recording path. Please test recording without the viewer and check the saved message rates with ros2 bag info.
The v2 driver cannot resize the rectified mono outputs with stereo.i_width/i_height. You can run the ROS image_proc::ResizeNode on the Raspberry Pi, with a scale of 0.5, and record only its smaller outputs. Crop the same region from both mono images before resizing. For Foundation Stereo, I recommend 640×400 rather than 640×360, as this matches the supported low-resolution profile in our Foundation Stereo example.
The mono pair must remain aligned to each other for Foundation Stereo. Matching their size to RGB does not align their viewpoints. Align the generated depth to RGB afterward.
The black borders alone do not indicate bad calibration. However, physical alignment can change after impact or mechanical stress. Back up both user and factory calibration before making changes. The current OAK Viewer has a separate Dynamic Calibration pipeline that supports OAK Series 2 stereo devices. If needed, you can also use the manual calibration guide.
Thanks,
Oskar
