Comments (3)
i tested this:
ros2 launch depthai_examples tracker_yolov4_spatial_node.launch.py
ros2 launch depthai_examples yolov4_publisher.launch.py spatial_camera:=true
and the results look fine as well.
its only with the camera.cpp generic pipeline where the results are bad
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Hi, thanks for the report, could you try testing with following parameters:
nn:
i_disable_resize: false
rgb:
i_preview_size: 416
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thanks for your reply:
im using this config:
/oak:
ros__parameters:
### will be added via launchfile due to me not wanting to fix the path here
nn:
i_nn_config_path: PLACEHOLDER_PATH_TO_CONFIG_JSON_WHICH_WILL_BE_REPLACED_BY_LAUNCH_CONFIG
i_enable_passthrough: true
i_enable_passthrough_depth: true
i_disable_resize: false
camera:
i_nn_type: spatial
i_pipeline_dump: true
i_enable_ir: true
rgb:
i_fps: 10.0
i_resolution: 720P
i_preview_size: 416
stereo:
i_align_depth: true
i_height: 320
i_width: 320
# i_stereo_conf_threshold: 40
i_stereo_conf_threshold: 200
i_subpixel: true
i_depth_preset: HIGH_DENSITY ###Prefers density over accuracy. Less invalid depth values, but more outliers.
i_lr_check: true ### Left-Right Check or LR-Check is used to remove incorrectly calculated disparity pixels due to occlusions at object borders (Left and Right camera views are slightly different).
i_lrc_threshold: 10
i_fps: 10.0
i_align_depth: true
### added filter
i_enable_decimation_filter: true
i_decimation_filter_decimation_mode: NON_ZERO_MEDIAN ### "PIXEL_SKIPPING", "NON_ZERO_MEDIAN", "NON_ZERO_MEAN"
i_decimation_filter_decimation_factor: 4 ### default 1, max 4
i_enable_spatial_filter: true
i_spatial_filter_hole_filling_radius: 2
i_spatial_filter_alpha: 0.5
i_spatial_filter_delta: 20
i_spatial_filter_iterations: 1
i_enable_threshold_filter: true
i_threshold_filter_min_range: 400
i_threshold_filter_max_range: 10000
i_enable_speckle_filter: true
i_speckle_filter_speckle_range: 50
left:
i_publish_topic: false
i_fps: 10.0
right:
i_publish_topic: false
i_fps: 10.0
i_disable_resize: false
and i_preview_size: 416
did not work, the resulting spatial info is still bad.
i have re-written one of the examples (depthai_examples/yolov4_spatial_publisher.cpp) and have nearly 1:1 hardcoded all the yaml parameters (from my config above) into the c++ pipeline. The resulting node works fine (spatial information is correct). That's why i assume that I have configured something wrong, or something in the pipeline is not created correctly (inside the camera.cpp driver)
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