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You can save it in depthai_ros_driver, either by calling /save_pipeline ROS service, or by setting parameter camera.i_pipeline_dump in ROS 2 or camera_i_pipeline_dump in ROS. Pipeline dump is saved to /tmp/pipeline.json.
Is depthai-ros built from source or installed from apt?
Is depthai/depthai-core library installed from rosdep or manually? For rosdep install, check if ros-<rosdistro>-depthai package is installed, manual install can be checked with ldconfig -p | grep depthai
Please include versions of following packages - apt show ros-$ROS_DISTRO-depthai ros-$ROS_DISTRO-depthai-ros ros-$ROS_DISTRO-depthai-bridge ros-$ROS_DISTRO-depthai-ros-msgs ros-$ROS_DISTRO-depthai-ros-driver
To get additional logs, set DEPTHAI_DEBUG=1 and paste the logs, either from command line or from latest log in ~/.ros/log
Additional context
Add any other context about the problem here.
Package versions :
I am using the OAK-D-S2 ON Ubuntu 22.04, ROS2 Humble.
I am using the camera.launch.py file as is from the github repo Link
Upon echoing the left and right camera_info topics I noticed that the intrinsic matrix values are different for both lenses. Ideally, for rectified images shouldn't the values be the same? Attaching the outputs below.
Another issue is that on rviz the rectified images appear to have an irregular black border as seen below
Let me know if any additional information is needed
The text was updated successfully, but these errors were encountered:
Hi, those values correspond to unrectified images (IIRC some libraries require this original information). Regarding black borders, this is expected due to rectification and the amount of distortion present in unrectified camera.
So just to clarify, in order for me to access the "rectified" intrinsic parameters for the left and right lens, I should refer to the projection matrix in the camera_info topic?
I am actually viewing the rectified camera streams in the images, so I would expect those to be free of distortion, right?
I am particularly interested in these 2 topics because I am using the rectified images and corresponding camera_info to calculate the depth/disparity myself.
Check if issue already exists
Describe the bug
A clear and concise description of what the bug is.
Minimal Reproducible Example
Append the MRE to the bug report, instructions here
If available launch files don't work in your case, please check if you also get errors while running:
stereo_inertial_node
indepthai_examples
camera
indepthai_ros_driver
Expected behavior
A clear and concise description of what you expected to happen.
Screenshots
If applicable, add screenshots to help explain your problem.
Pipeline Graph
Please also provide a screenshot of your pipeline using the DepthAI Pipeline Graph.
You can save it in
depthai_ros_driver
, either by calling/save_pipeline
ROS service, or by setting parametercamera.i_pipeline_dump
in ROS 2 orcamera_i_pipeline_dump
in ROS. Pipeline dump is saved to/tmp/pipeline.json
.Attach system log
depthai-ros
built from source or installed from apt?depthai/depthai-core
library installed from rosdep or manually? For rosdep install, check ifros-<rosdistro>-depthai
package is installed, manual install can be checked withldconfig -p | grep depthai
apt show ros-$ROS_DISTRO-depthai ros-$ROS_DISTRO-depthai-ros ros-$ROS_DISTRO-depthai-bridge ros-$ROS_DISTRO-depthai-ros-msgs ros-$ROS_DISTRO-depthai-ros-driver
DEPTHAI_DEBUG=1
and paste the logs, either from command line or from latest log in~/.ros/log
Additional context
Add any other context about the problem here.
Package versions :
I am using the OAK-D-S2 ON Ubuntu 22.04, ROS2 Humble.
This is my camera.yaml file :
/oak:
ros__parameters:
camera:
i_mx_id: ''
i_usb_port_id: ''
i_calibration_dump: false
i_nn_type: none
i_enable_imu: true
i_pipeline_type: RGBD
i_usb_speed: SUPER_PLUS
i_restart_on_diagnostics_error: false
imu:
i_enable_rotation: true
i_rot_freq: 200
rgb:
i_fps: 12.0
i_resolution: 1080P
i_set_isp_scale: false
stereo:
i_align_depth: true
i_publish_right_rect: true
i_publish_left_rect: true
i_publish_synced_rect_pair: true
i_publish_topic: true
left:
i_fps: 12.0
right:
i_fps: 12.0
I am using the camera.launch.py file as is from the github repo Link
Upon echoing the left and right camera_info topics I noticed that the intrinsic matrix values are different for both lenses. Ideally, for rectified images shouldn't the values be the same? Attaching the outputs below.
![Screenshot from 2024-06-18 13-33-01](https://private-user-images.githubusercontent.com/37099358/340658562-ed9ce4e9-bd36-4bed-a278-16d046ba72eb.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjMzNTcyMzYsIm5iZiI6MTcyMzM1NjkzNiwicGF0aCI6Ii8zNzA5OTM1OC8zNDA2NTg1NjItZWQ5Y2U0ZTktYmQzNi00YmVkLWEyNzgtMTZkMDQ2YmE3MmViLnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA4MTElMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwODExVDA2MTUzNlomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTYwY2Q0MjY0NWRhOTY0NmJlNzFmNTM1ZTE5MGI4MmExMDk1ZmQ0YzYzNzc5MGJlZjkxN2RhNmQyY2U0YWY2OTYmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.mnfYL6wbaBdmEszaFsB7UE5fzYhm8AwtevKmKJr1Xs8)
Another issue is that on rviz the rectified images appear to have an irregular black border as seen below
Let me know if any additional information is needed
The text was updated successfully, but these errors were encountered: