- oak_d_node.py starts a ros node that emulates a realsense output at 640x480, and offers a snapshot service which publishes a 4K (3840*2160) image on the ~inspection/image_raw topic.
- ros1 noetic
- install depthai API using instructions here: https://github.com/luxonis/depthai-ros#install-from-ros-binaries
- Video unit is limited to 4k, so full 12MP isnt available when using video unit. https://docs.luxonis.com/projects/api/en/latest/components/nodes/color_camera/
ColorCamera node
┌──────────────────────────────┐
│ ┌─────────────┐ │
│ │ Image │ raw │ raw
│ │ Sensor │---┬--------├────────►
│ └────▲────────┘ | │
│ │ ┌--------┘ │
│ ┌─┴───▼─┐ │ isp
inputControl │ │ │-------┬-------├────────►
──────────────►│------│ ISP │ ┌─────▼────┐ │ video
│ │ │ | |--├────────►
│ └───────┘ │ Image │ │ still
inputConfig │ │ Post- │--├────────►
──────────────►│----------------|Processing│ │ preview
│ │ │--├────────►
│ └──────────┘ │
└──────────────────────────────┘