OAK-D Pcloud

A ROS2 package for publishing pointcloud data from the OAK-D camera.

Overview

This package provides ROS2 nodes for:

• Publishing rectified stereo images and depth from OAK-D
• Applying median and WLS filtering to depth data
• Converting depth to pointcloud (planned)

Dependencies

Required:

• ROS2 Jazzy (or another ROS2 distro if you adapt the dependencies)
• OpenCV
• depthai (optional - package can build without it)
• cv_bridge (optional - package can build without it)

Installation

Building from Source

# Clone the repository into your ROS2 workspace
cd ~/ros_ws/src
git clone https://github.com/GarryLeo0911/pcloud.git oakd_pcloud

# Install dependencies (Ubuntu/Debian)
sudo apt update
sudo apt install ros-jazzy-cv-bridge ros-jazzy-depthai-ros

# Build the package
cd ~/ros_ws
colcon build --packages-select oakd_pcloud

Building without DepthAI

If you don't have the DepthAI SDK or ROS2 packages installed, you can build the package in a limited mode:

cd ~/ros_ws
colcon build --packages-select oakd_pcloud --cmake-args -DBUILD_WITHOUT_DEPTHAI=ON

In this mode, the nodes will start but won't connect to actual camera hardware.

Usage

Source your workspace:

source ~/ros_ws/install/setup.bash

Running the Nodes

Basic stereo publisher:

ros2 run oakd_pcloud stereo_rectified_rgb_node

With median filter:

# Coming soon - launch file will be provided

Published Topics

When running with DepthAI enabled:

• /stereo/depth (sensor_msgs/Image) - Raw depth data
• /rectified_left/image (sensor_msgs/Image) - Rectified left camera image
• /rectified_right/image (sensor_msgs/Image) - Rectified right camera image
• /color/image (sensor_msgs/Image) - Color camera preview

Parameters

• camera_name - Name/identifier for the camera
• camera_param_uri - URI to camera calibration parameters

Development Status

This is a ROS2 port of the original ROS1 package. Current status:

• Basic node structure converted to ROS2
• CMake/package.xml updated for ROS2
• Stereo publisher node working
• Launch files need conversion to Python
• Full message_filters integration pending
• More testing needed

License

This package is released under the MIT License. See LICENSE file for details.

Contributing

Contributions are welcome! Please feel free to submit a Pull Request.

Acknowledgements

This is a ROS2 port of the original oakd_pcloud package.