Change Resolution on astra ros sdk

Technical Support & Q&A
1

I am using astra ros sdk, I have one Astra Pro with me. My requirement is 320*240 image resolution, my current system can not handle more than that. I search in astra.launch file and source code. Could not found a way to get the image in the desired resolution. Stuck here for a couple for days. Anyone can help here?

roslaunch astra_camera astra.launch
and on another tab : rostopic echo /camera/depth/camera_info

header:
seq: 93
stamp:
secs: 1580035308
nsecs: 958674662
frame_id: “camera_depth_optical_frame”
height: 480
width: 640
distortion_model: “plumb_bob”
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [577.8889770507812, 0.0, 298.60101318359375, 0.0, 577.8889770507812, 245.95199584960938, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [577.8889770507812, 0.0, 298.60101318359375, 0.0, 0.0, 577.8889770507812, 245.95199584960938, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: False

2

Hi, Raushankumar586,

Which image resolution do you want to change? the IR, depth or color?
It should be changed in the Astra SDK with ROS driver. （Latest version is available)

Wan