[BUG] Generic ROS2 driver output for spatial yolo is incorrect

[kikass13]

[BUG] Generic ROS2 driver output for spatial yolo is incorrect

[kikass13]

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

[Serafadam]

Hi, thanks for the report, could you try testing with following parameters:

    nn:
      i_disable_resize: false
    rgb:
      i_preview_size: 416

[kikass13]

@Serafadam

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)