Pre_release_v281_iron (#406)

README.md

@@ -137,7 +137,8 @@ docker run -it -v /dev/:/dev/ --privileged -e DISPLAY -v /tmp/.X11-unix:/tmp/.X1
 
 Currently, recommended way to launch cameras is to use executables from depthai_ros_driver package. 
 
-This runs your camera as a ROS2 Component and gives you the ability to customize your camera using ROS parameters. 
+This runs your camera as a ROS2 Component/ROS Nodelet and gives you the ability to customize your camera using ROS parameters.
+Main API difference between ROS2 and ROS1 is that parameter names use different convention - parameters in ROS2 are namespaced using `.` and parameters in ROS1 are namespaced using `_`, for example in ROS2: `camera.i_pipeline_type`, ROS1 `camera_i_pipeline_type`. For sake of simplicity, this Readme uses ROS2 convention. List of all available parameters with their default values can be found at the bottom of Readme.
 Paramerers that begin with `r_` can be freely modified during runtime, for example with rqt. 
 Parameters that begin with `i_` are set when camera is initializing, to change them you have to call `stop` and `start` services. This can be used to hot swap NNs during runtime, changing resolutions, etc. Below you can see some examples:
 
@@ -166,19 +167,40 @@ It is also possible to set custom URDF path (for now only absolute path works) a
 **NOTE ON IMU EXTRINSICS**
 If your camera has uncalibrated IMU, a warning will be shown, and IMU will be published with zero rotation and translation. You can override this behavior by setting `camera.i_tf_imu_from_descr`: true. This will publish default IMU extrinsics from URDF based on camera model.
 
+
+#### Available sensors and their resolutions:
+
+* IMX378 - {"12MP", "4K", "1080P"}, default 1080P
+* OV9282 - {"800P", "720P", "400P"}, default 800P
+* OV9782 - {"800P", "720P", "400P"}, default 800P
+* OV9281 - {"800P", "720P", "400P"}, default 800P
+* IMX214 - {"13MP", "12MP", "4K", "1080P"}, default 1080P
+* IMX412 - {"13MP", "12MP", "4K", "1080P"}, default 1080P
+* OV7750 - {"480P", "400P"}, default 480P
+* OV7251 - {"480P", "400P"}, default 480P
+* IMX477 - {"12MP", "4K", "1080P"}, default 1080P
+* IMX577 - {"12MP", "4K", "1080P"}, default 1080P
+* AR0234 - {"1200P"}, default 1200P
+* IMX582 - {"48MP", "12MP", "4K"}, default 4K
+* LCM48 - {"48MP", "12MP", "4K"}, default 4K
+
 #### Setting RGB parameters
+![](docs/param_rgb.gif)
 
 By default RGB camera outputs `ISP` frame. To set custom width and height of output image, you can set `i_isp_num` and `i_isp_den` which scale image dimensions (2 and 3 by default, so from 1920x1080 to 1280x720), note for RGBD alignment to work resulting width and height must be divisible by 16. 
 
 Additionally you can set `i.output_isp: false` to use `video` output and set custom size using `i_width` and `i_height` parameters.
-![](docs/param_rgb.gif)
+
 #### Setting Stereo parameters
 ![](docs/param_stereo.gif)
 ##### Depth alignment
 When setting `stereo.i_align_depth: true`, stereo output is aligned to board socket specified by `stereo.i_board_socket_id` parameter (by default 0/CAM_A)
 
 You can enable rectified Stereo streams by setting, for example in the case of right stream `i_publish_right_rect: true`. You can also set `i_publish_synced_rect_pair: true` to get both images with the same timestamps.
 
+##### Stereo socket order
+By default, right camera is treated as first when used for stereo computation, which is reflected in CameraInfo messages. If you want to reverse that logic, set `stereo.i_reverse_stereo_socket_order: true` (this can be also set for individual sensors).
+
 ##### Custom Sensor sockets
 
 Configuration of which sensors are used for computing stereo pair can be done either programatically, by specifying them in a constructor of a Stereo node (for example when building a custom pipeline), or via parameters - `stereo.i_left_socket_id`/`stereo.i_right_socket_id`. Please note that currently if you want to use rgb/center socket instead of one of the given pairs you will need to build a custom pipeline for that.
@@ -302,7 +324,6 @@ an example can be seen by running  `ros2 launch depthai_filters example_wls_filt
 - FeatureTrackerOverlay - publishes Tracked Features overlay based on features and images coming from the driver
 - Features3D - uses depth image to republish features as 3D pointcloud
 
-
 ### Using external sources for NN inference or Stereo Depth
 
 There is a possibility of using external image topics as input for NNs or Depth calculation.
@@ -382,4 +403,214 @@ For easier development inside isolated workspace, one can use Visual Studio Code
 - Create separate workspace
 - Clone repository into src
 - Copy `.devcontainer` directory into main workspace directory
-- Open workspace directory in VSCode
+- Open workspace directory in VSCode
+
+### List of parameters:
+```yaml
+/oak:
+  ros__parameters:
+    camera:
+      i_calibration_dump: false
+      i_enable_imu: true
+      i_enable_ir: true
+      i_external_calibration_path: ''
+      i_floodlight_brightness: 0
+      i_ip: ''
+      i_laser_dot_brightness: 800
+      i_mx_id: ''
+      i_nn_type: spatial
+      i_pipeline_dump: false
+      i_pipeline_type: RGBD
+      i_publish_tf_from_calibration: false
+      i_tf_base_frame: oak
+      i_tf_cam_pitch: '0.0'
+      i_tf_cam_pos_x: '0.0'
+      i_tf_cam_pos_y: '0.0'
+      i_tf_cam_pos_z: '0.0'
+      i_tf_cam_roll: '0.0'
+      i_tf_cam_yaw: '0.0'
+      i_tf_camera_model: ''
+      i_tf_camera_name: oak
+      i_tf_custom_urdf_location: ''
+      i_tf_custom_xacro_args: ''
+      i_tf_imu_from_descr: 'false'
+      i_tf_parent_frame: oak-d-base-frame
+      i_usb_port_id: ''
+      i_usb_speed: SUPER_PLUS
+    diagnostic_updater:
+      period: 1.0
+    imu:
+      i_acc_cov: 0.0
+      i_acc_freq: 400
+      i_batch_report_threshold: 5
+      i_enable_rotation: false
+      i_get_base_device_timestamp: false
+      i_gyro_cov: 0.0
+      i_gyro_freq: 400
+      i_mag_cov: 0.0
+      i_max_batch_reports: 10
+      i_message_type: IMU
+      i_rot_cov: -1.0
+      i_sync_method: LINEAR_INTERPOLATE_ACCEL
+      i_update_ros_base_time_on_ros_msg: false
+    left:
+      i_add_exposure_offset: false
+      i_board_socket_id: 1
+      i_calibration_file: ''
+      i_disable_node: false
+      i_enable_feature_tracker: false
+      i_enable_lazy_publisher: true
+      i_exposure_offset: 0
+      i_fps: 30.0
+      i_fsync_continuous: false
+      i_fsync_trigger: false
+      i_get_base_device_timestamp: false
+      i_height: 720
+      i_low_bandwidth: false
+      i_low_bandwidth_quality: 50
+      i_max_q_size: 30
+      i_publish_topic: false
+      i_resolution: '720'
+      i_reverse_stereo_socket_order: false
+      i_sensor_img_orientation: NORMAL
+      i_set_isp3a_fps: false
+      i_simulate_from_topic: false
+      i_simulated_topic_name: ''
+      i_update_ros_base_time_on_ros_msg: false
+      i_width: 1280
+      r_exposure: 1000
+      r_iso: 800
+      r_set_man_exposure: false
+    nn:
+      i_disable_resize: false
+      i_enable_passthrough: false
+      i_enable_passthrough_depth: false
+      i_get_base_device_timestamp: false
+      i_num_inference_threads: 2
+      i_num_pool_frames: 4
+      i_update_ros_base_time_on_ros_msg: false
+    rgb:
+      i_add_exposure_offset: false
+      i_board_socket_id: 0
+      i_calibration_file: ''
+      i_disable_node: false
+      i_enable_feature_tracker: false
+      i_enable_lazy_publisher: true
+      i_enable_preview: false
+      i_exposure_offset: 0
+      i_fps: 30.0
+      i_fsync_continuous: false
+      i_fsync_trigger: false
+      i_get_base_device_timestamp: false
+      i_height: 720
+      i_interleaved: false
+      i_isp_den: 3
+      i_isp_num: 2
+      i_keep_preview_aspect_ratio: true
+      i_low_bandwidth: false
+      i_low_bandwidth_quality: 50
+      i_max_q_size: 30
+      i_output_isp: true
+      i_preview_height: 300
+      i_preview_size: 300
+      i_preview_width: 300
+      i_publish_topic: true
+      i_resolution: 1080p
+      i_reverse_stereo_socket_order: false
+      i_sensor_img_orientation: NORMAL
+      i_set_isp3a_fps: false
+      i_set_isp_scale: true
+      i_simulate_from_topic: false
+      i_simulated_topic_name: ''
+      i_update_ros_base_time_on_ros_msg: false
+      i_width: 1280
+      r_exposure: 20000
+      r_focus: 1
+      r_iso: 800
+      r_set_man_exposure: false
+      r_set_man_focus: false
+      r_set_man_whitebalance: false
+      r_whitebalance: 3300
+    right:
+      i_add_exposure_offset: false
+      i_board_socket_id: 2
+      i_calibration_file: ''
+      i_disable_node: false
+      i_enable_feature_tracker: false
+      i_enable_lazy_publisher: true
+      i_exposure_offset: 0
+      i_fps: 30.0
+      i_fsync_continuous: false
+      i_fsync_trigger: false
+      i_get_base_device_timestamp: false
+      i_height: 720
+      i_low_bandwidth: false
+      i_low_bandwidth_quality: 50
+      i_max_q_size: 30
+      i_publish_topic: false
+      i_resolution: '720'
+      i_reverse_stereo_socket_order: false
+      i_sensor_img_orientation: NORMAL
+      i_set_isp3a_fps: false
+      i_simulate_from_topic: false
+      i_simulated_topic_name: ''
+      i_update_ros_base_time_on_ros_msg: false
+      i_width: 1280
+      r_exposure: 1000
+      r_iso: 800
+      r_set_man_exposure: false
+    stereo:
+      i_add_exposure_offset: false
+      i_align_depth: true
+      i_bilateral_sigma: 0
+      i_board_socket_id: 0
+      i_depth_filter_size: 5
+      i_depth_preset: HIGH_ACCURACY
+      i_disparity_width: DISPARITY_96
+      i_enable_alpha_scaling: false
+      i_enable_brightness_filter: false
+      i_enable_companding: false
+      i_enable_decimation_filter: false
+      i_enable_disparity_shift: false
+      i_enable_distortion_correction: false
+      i_enable_lazy_publisher: true
+      i_enable_spatial_filter: false
+      i_enable_speckle_filter: false
+      i_enable_temporal_filter: false
+      i_enable_threshold_filter: false
+      i_exposure_offset: 0
+      i_extended_disp: false
+      i_get_base_device_timestamp: false
+      i_height: 720
+      i_left_rect_add_exposure_offset: false
+      i_left_rect_enable_feature_tracker: false
+      i_left_rect_exposure_offset: 0
+      i_left_rect_low_bandwidth: false
+      i_left_rect_low_bandwidth_quality: 50
+      i_left_socket_id: 1
+      i_low_bandwidth: false
+      i_low_bandwidth_quality: 50
+      i_lr_check: true
+      i_lrc_threshold: 10
+      i_max_q_size: 30
+      i_output_disparity: false
+      i_publish_left_rect: false
+      i_publish_right_rect: false
+      i_publish_synced_rect_pair: false
+      i_publish_topic: true
+      i_rectify_edge_fill_color: 0
+      i_reverse_stereo_socket_order: false
+      i_right_rect_add_exposure_offset: false
+      i_right_rect_enable_feature_tracker: false
+      i_right_rect_exposure_offset: 0
+      i_right_rect_low_bandwidth: false
+      i_right_rect_low_bandwidth_quality: 50
+      i_right_socket_id: 2
+      i_set_input_size: false
+      i_socket_name: rgb
+      i_stereo_conf_threshold: 240
+      i_subpixel: false
+      i_update_ros_base_time_on_ros_msg: false
+      i_width: 1280
+    use_sim_time: false
+```

depthai-ros/CHANGELOG.rst

@@ -2,6 +2,15 @@
 Changelog for package depthai-ros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.8.1 (2023-09-12)
+-------------------
+
+* Added support for OpenCV Stereo order convention
+* Added disparity to depth use spec translation parameter
+* Updated sensor socket logic
+* Fixed issues when running robot_state_publisher as component
+* Added missing tf2 dependencies
+
 2.8.0 (2023-09-01)
 -------------------
 * Add camera image orientation param 

depthai-ros/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.10.2)  # CMake version in Ubuntu 18.04 LTS
 
-project(depthai-ros VERSION 2.8.0 LANGUAGES CXX C)
+project(depthai-ros VERSION 2.8.1 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 

depthai-ros/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai-ros</name>
-  <version>2.8.0</version>
+  <version>2.8.1</version>
   <description>The depthai-ros package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->

depthai_bridge/CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.10.2)  # CMake version in Ubuntu 18.04 LTS
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
-project(depthai_bridge VERSION 2.8.0 LANGUAGES CXX C)
+project(depthai_bridge VERSION 2.8.1 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -38,6 +38,9 @@ find_package(stereo_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(vision_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(composition_interfaces REQUIRED)
 
 set(dependencies
   camera_info_manager
@@ -50,6 +53,9 @@ set(dependencies
   std_msgs
   vision_msgs
   tf2_ros
+  tf2_geometry_msgs
+  tf2
+  composition_interfaces
 )
 
 include_directories(

depthai_bridge/include/depthai_bridge/ImageConverter.hpp

@@ -25,12 +25,7 @@ namespace ImageMsgs = sensor_msgs::msg;
 using ImagePtr = ImageMsgs::Image::SharedPtr;
 
 using TimePoint = std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration>;
-ImageMsgs::CameraInfo calibrationToCameraInfo(dai::CalibrationHandler calibHandler,
-                                              dai::CameraBoardSocket cameraId,
-                                              int width = -1,
-                                              int height = -1,
-                                              Point2f topLeftPixelId = Point2f(),
-                                              Point2f bottomRightPixelId = Point2f());
+
 class ImageConverter {
    public:
     // ImageConverter() = default;
@@ -55,9 +50,29 @@ class ImageConverter {
         _updateRosBaseTimeOnToRosMsg = update;
     }
 
+    /**
+     * @brief Sets converter behavior to convert from bitstream to raw data.
+     * @param srcType: The type of the bitstream data used for conversion.
+     */
     void convertFromBitstream(dai::RawImgFrame::Type srcType);
+
+    /**
+     * @brief Sets exposure offset when getting timestamps from the message.
+     * @param offset: The exposure offset to be added to the timestamp.
+     */
     void addExposureOffset(dai::CameraExposureOffset& offset);
-    void convertDispToDepth();
+
+    /**
+     * @brief Sets converter behavior to convert from disparity to depth when converting messages from bitstream.
+     * @param baseline: The baseline of the stereo pair.
+     */
+    void convertDispToDepth(double baseline);
+
+    /**
+     * @brief Reverses the order of the stereo sockets when creating CameraInfo to calculate Tx component of Projection matrix.
+     * By default the right socket is used as the base, calling this function will set left as base.
+     */
+    void reverseStereoSocketOrder();
 
     void toRosMsg(std::shared_ptr<dai::ImgFrame> inData, std::deque<ImageMsgs::Image>& outImageMsgs);
     ImageMsgs::Image toRosMsgRawPtr(std::shared_ptr<dai::ImgFrame> inData, const sensor_msgs::msg::CameraInfo& info = sensor_msgs::msg::CameraInfo());
@@ -100,6 +115,8 @@ class ImageConverter {
     bool _convertDispToDepth = false;
     bool _addExpOffset = false;
     dai::CameraExposureOffset _expOffset;
+    bool _reverseStereoSocketOrder = false;
+    double _baseline;
 };
 
 }  // namespace ros