Adam Serafin

Hi @flabrosse, sorry for the late reply. I was wondering if you could provide some minimal ROS package that could be used to reproduce this issue? I was also wondering...

Hi, please check [this branch](https://github.com/luxonis/depthai-ros/tree/noetic_additional_camera_control) to see if this implementation works for your case. You can find the new parameters [here](https://github.com/luxonis/depthai-ros/commit/9a2e0433446c08d37d424d3b6caa463eb9c3a5bb)

Hi, please check the newest version, params have been changed to runtime. Regarding chroma denoise, I think it applies mostly in the cases where stereo pair is color, like OAK-D...

Hi, thanks for noticing, the ranges should be updated in the latest commit

Hi, those changes [are already on Humble branch](https://github.com/luxonis/depthai-ros/blob/cf71d9d2ad1a08bb39127ab5303f94f016e95a4d/depthai_ros_driver/src/param_handlers/sensor_param_handler.cpp#L83)

Hi, thanks for the report, would it be possible for you to share a rosbag with topics available? Also, what is the CPU/RAM usage when the driver is running?

Hi @MariuszSzczepanikSpyrosoft @lucianoperetti, I investigated a bit and unfortunately I wasn't able to replicate the issue, although I might've found a clue - `stereo/camera_info` topic seems to change randomly and...

@MariuszSzczepanikSpyrosoft > Could you tell me more about: "I would check if anything calls for updates to calibration" and how this could be checked? some dedicated topics messages? I would...

Hi, could you checkout [this branch](https://github.com/luxonis/depthai-ros/tree/print_info_humble_i549) and see what is the output? Additionally it would be good to compare it with what appears on topic itself

Hi @MateoGiova, you might need to subscribe to the stereo topic (should be enough to display it using rviz or rqt) for those logs to appear