Phntm Depthai ROS Repository

This is a fork on the official Luxonis ROS driver that aims to address some of its shortcomings.

Extra features:

• The spatial node publishes vision_msgs::msg::Detection3DArray with proper 3D bounding boxes
• The y-coordinate in spatial detections is flipped upside down to properly match the camera's optical frame in the URDF
• The spatial node can optionally output vision_msgs::msg::Detection2DArray alongside 3D detections (use nn.i_enable_2d_detections)