D455 can not change the resolution. #1751
Comments
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Hi @ctxqlxs The custom width and height configuration that you defined for the depth and color streams in your roslaunch instruction is being applied in the upper half of your log.
In the lower half of the log though, the default stream configuration for your particular camera model is being applied, overwriting the earlier settings. This was a feature introduced recently in ROS wrapper 2.2.22. The release notes about it state: "Choose the default profile in case of an invalid request. Notice that the rs_camera.launch file now selects the default profile for each device". It may be worth trying with the rs_aligned_depth roslaunch instruction instead: roslaunch realsense2_camera rs_aligned_depth.launch depth_width:=640 depth_height:=480 color_width:=640 color_height:=480 I will seek input from the ROS wrapper developer regarding rs_camera.launch. @doronhi Does the statement Notice that the rs_camera.launch file now selects the default profile for each device mean that when rs_camera.launch is used, the default profile is applied even if a custom stream width / height is defined in the roslaunch instruction? Thanks! |
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Hi, @MartyG-RealSense , @ctxqlxs , Sorry for the confusion. |
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Thanks very much for the clarification @doronhi - I understand now. I like your depth_profile format idea. It is neat and tidy, and makes for a shorter roslaunch instruction than having to define separate width, height and FPS commands for each stream type, which could add up to 6 commands in a 2-stream configuration (as demonstrated in your instruction above). In the meantime I will communicate the correct profile definition format to anyone else who has this issue. Thanks again! |
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I've set the image resolution, but the stream keep the original resolution. why?
roslaunch realsense2_camera rs_camera.launch align_depth:=true depth_width:=640 depth_height:=480 color_width:=640 color_height:=480`SUMMARY
PARAMETERS
NODES
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)
ROS_MASTER_URI=http://localhost:11311
process[camera/realsense2_camera_manager-1]: started with pid [21117]
process[camera/realsense2_camera-2]: started with pid [21118]
[ INFO] [1615514653.719402207]: Initializing nodelet with 12 worker threads.
[ INFO] [1615514653.792461803]: RealSense ROS v2.2.22
[ INFO] [1615514653.792486789]: Built with LibRealSense v2.42.0
[ INFO] [1615514653.792521133]: Running with LibRealSense v2.42.0
[ INFO] [1615514653.815102414]:
[ INFO] [1615514653.820827135]: Device with serial number 044422250434 was found.
[ INFO] [1615514653.820873487]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-6/2-6:1.0/video4linux/video0 was found.
[ INFO] [1615514653.820916862]: Device with name Intel RealSense D455 was found.
[ INFO] [1615514653.821468464]: Device with port number 2-6 was found.
[ INFO] [1615514653.821508325]: Device USB type: 3.2
[ INFO] [1615514653.823820484]: getParameters...
[ INFO] [1615514653.892330781]: setupDevice...
[ INFO] [1615514653.892354607]: JSON file is not provided
[ INFO] [1615514653.892371103]: ROS Node Namespace: camera
[ INFO] [1615514653.892387835]: Device Name: Intel RealSense D455
[ INFO] [1615514653.892402317]: Device Serial No: 044422250434
[ INFO] [1615514653.892421863]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-6/2-6:1.0/video4linux/video0
[ INFO] [1615514653.892435801]: Device FW version: 05.12.11.00
[ INFO] [1615514653.892450352]: Device Product ID: 0x0B5C
[ INFO] [1615514653.892464055]: Enable PointCloud: Off
[ INFO] [1615514653.892477489]: Align Depth: On
[ INFO] [1615514653.892490733]: Sync Mode: On
[ INFO] [1615514653.892525419]: Device Sensors:
[ INFO] [1615514653.899547470]: Stereo Module was found.
[ INFO] [1615514653.906501112]: RGB Camera was found.
[ INFO] [1615514653.906688805]: Motion Module was found.
[ INFO] [1615514653.906712127]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1615514653.906729735]: num_filters: 0
[ INFO] [1615514653.906738672]: Setting Dynamic reconfig parameters.
[ INFO] [1615514654.080735165]: Done Setting Dynamic reconfig parameters.
[ INFO] [1615514654.081598027]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16
[ INFO] [1615514654.083596165]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1615514654.085884673]: setupPublishers...
[ INFO] [1615514654.089059882]: Expected frequency for depth = 30.00000
[ INFO] [1615514654.126349242]: Expected frequency for color = 30.00000
[ INFO] [1615514654.146238795]: Expected frequency for aligned_depth_to_color = 30.00000
[ INFO] [1615514654.159087659]: setupStreams...
[ INFO] [1615514654.210290077]: insert Depth to Stereo Module
[ INFO] [1615514654.210394804]: insert Color to RGB Camera
[ INFO] [1615514654.372010794]: SELECTED BASE:Depth, 0
[ INFO] [1615514654.394750089]: RealSense Node Is Up!`
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