273 noetic (#337)

depthai-ros/CHANGELOG.rst

@@ -2,7 +2,17 @@
 Changelog for package depthai-ros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.7.2 (20230-5-08)
+2.7.3 (2023-06-16)
+-------------------
+* Pipeline generation as a plugin
+* Fixed bounding box generation issue
+* Stereo rectified streams publishing
+* Camera trigger mechanisms
+* Brightness filter
+
+
+2.7.2 (2023-5-08)
+-------------------
 * IMU improvements
 
 2.7.1 (2023-03-29)

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 2.7.2 LANGUAGES CXX C)
+project(depthai-ros VERSION 2.7.3 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>2.7.2</version>
+  <version>2.7.3</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 2.7.2 LANGUAGES CXX C)
+project(depthai_bridge VERSION 2.7.3 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

depthai_bridge/include/depthai_bridge/ImuConverter.hpp

@@ -30,7 +30,8 @@ class ImuConverter {
                  double angular_velocity_cov = 0.0,
                  double rotation_cov = 0.0,
                  double magnetic_field_cov = 0.0,
-                 bool enable_rotation = false);
+                 bool enable_rotation = false,
+                 bool getBaseDeviceTimestamp = false);
     ~ImuConverter();
 
     /**
@@ -132,6 +133,7 @@ class ImuConverter {
     int64_t _totalNsChange{0};
     // Whether to update the ROS base time on each message conversion
     bool _updateRosBaseTimeOnToRosMsg{false};
+    bool _getBaseDeviceTimestamp;
 
     void fillImuMsg(dai::IMUReportAccelerometer report, ImuMsgs::Imu& msg);
     void fillImuMsg(dai::IMUReportGyroscope report, ImuMsgs::Imu& msg);
@@ -144,15 +146,15 @@ class ImuConverter {
     void fillImuMsg(dai::IMUReportMagneticField report, depthai_ros_msgs::ImuWithMagneticField& msg);
 
     template <typename I, typename S, typename T, typename F, typename M>
-    void CreateUnitMessage(I first, S second, T third, F fourth, M& msg, dai::Timestamp timestamp) {
+    void CreateUnitMessage(I first, S second, T third, F fourth, M& msg, std::chrono::_V2::steady_clock::time_point timestamp) {
         fillImuMsg(first, msg);
         fillImuMsg(second, msg);
         fillImuMsg(third, msg);
         fillImuMsg(fourth, msg);
 
         msg.header.frame_id = _frameName;
 
-        msg.header.stamp = getFrameTime(_rosBaseTime, _steadyBaseTime, timestamp.get());
+        msg.header.stamp = getFrameTime(_rosBaseTime, _steadyBaseTime, timestamp);
     }
 
     template <typename I, typename S, typename T, typename F, typename M>
@@ -182,7 +184,12 @@ class ImuConverter {
                         const double alpha = diff.count() / dt;
                         I interp = lerpImu(interp0, interp1, alpha);
                         M msg;
-                        CreateUnitMessage(interp, currSecond, currThird, currFourth, msg, currSecond.timestamp);
+                        std::chrono::_V2::steady_clock::time_point tstamp;
+                        if(_getBaseDeviceTimestamp)
+                            tstamp = currSecond.getTimestampDevice();
+                        else
+                            tstamp = currSecond.getTimestamp();
+                        CreateUnitMessage(interp, currSecond, currThird, currFourth, msg, tstamp);
                         imuMsgs.push_back(msg);
                         second.pop_front();
                         third.pop_front();

depthai_bridge/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai_bridge</name>
-  <version>2.7.2</version>
+  <version>2.7.3</version>
   <description>The depthai_bridge package</description>
 
   <maintainer email="[email protected]">Sachin Guruswamy</maintainer>

depthai_bridge/src/ImuConverter.cpp

@@ -13,7 +13,8 @@ ImuConverter::ImuConverter(const std::string& frameName,
                            double angular_velocity_cov,
                            double rotation_cov,
                            double magnetic_field_cov,
-                           bool enable_rotation)
+                           bool enable_rotation,
+                           bool getBaseDeviceTimestamp)
     : _frameName(frameName),
       _syncMode(syncMode),
       _linear_accel_cov(linear_accel_cov),
@@ -22,7 +23,8 @@ ImuConverter::ImuConverter(const std::string& frameName,
       _magnetic_field_cov(magnetic_field_cov),
       _enable_rotation(enable_rotation),
       _sequenceNum(0),
-      _steadyBaseTime(std::chrono::steady_clock::now()) {
+      _steadyBaseTime(std::chrono::steady_clock::now()),
+      _getBaseDeviceTimestamp(getBaseDeviceTimestamp) {
     _rosBaseTime = ::ros::Time::now();
 }
 
@@ -98,7 +100,13 @@ void ImuConverter::toRosMsg(std::shared_ptr<dai::IMUData> inData, std::deque<Imu
             auto rot = inData->packets[i].rotationVector;
             auto magn = inData->packets[i].magneticField;
             ImuMsgs::Imu msg;
-            CreateUnitMessage(accel, gyro, rot, magn, msg, accel.timestamp);
+            std::chrono::_V2::steady_clock::time_point tstamp;
+            if(_getBaseDeviceTimestamp)
+                tstamp = accel.getTimestampDevice();
+            else
+                tstamp = accel.getTimestamp();
+
+            CreateUnitMessage(accel, gyro, rot, magn, msg, tstamp);
             outImuMsgs.push_back(msg);
         }
     }
@@ -114,7 +122,13 @@ void ImuConverter::toRosDaiMsg(std::shared_ptr<dai::IMUData> inData, std::deque<
             auto rot = inData->packets[i].rotationVector;
             auto magn = inData->packets[i].magneticField;
             depthai_ros_msgs::ImuWithMagneticField msg;
-            CreateUnitMessage(accel, gyro, rot, magn, msg, accel.timestamp);
+            std::chrono::_V2::steady_clock::time_point tstamp;
+            if(_getBaseDeviceTimestamp)
+                tstamp = accel.getTimestampDevice();
+            else
+                tstamp = accel.getTimestamp();
+
+            CreateUnitMessage(accel, gyro, rot, magn, msg, tstamp);
             outImuMsgs.push_back(msg);
         }
     }

depthai_descriptions/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.10.2)
-project(depthai_descriptions VERSION 2.7.2 LANGUAGES CXX C)
+project(depthai_descriptions VERSION 2.7.3 LANGUAGES CXX C)
 
 
 find_package(catkin REQUIRED

depthai_descriptions/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>depthai_descriptions</name>
-  <version>2.7.2</version>
+  <version>2.7.3</version>
   <description>The depthai_descriptions package</description>
 
   <maintainer email="[email protected]">Adam Serafin</maintainer>

depthai_examples/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required (VERSION 3.10.2)  # CMake version in Ubuntu 18.04 LTS
-project(depthai_examples VERSION 2.7.2 LANGUAGES CXX C)
+project(depthai_examples VERSION 2.7.3 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

depthai_examples/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai_examples</name>
-  <version>2.7.2</version>
+  <version>2.7.3</version>
   <description>The depthai_examples package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->

depthai_filters/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.10.2)
-project(depthai_filters VERSION 2.7.2 LANGUAGES CXX C)
+project(depthai_filters VERSION 2.7.3 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

depthai_filters/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>depthai_filters</name>
-  <version>2.7.2</version>
+  <version>2.7.3</version>
   <description>The depthai_filters package</description>
 
   <maintainer email="[email protected]">Adam Serafin</maintainer>

depthai_ros_driver/CMakeLists.txt

@@ -67,7 +67,6 @@ include_directories(
   ${OpenCV_INCLUDE_DIRS}
 )
 
-include_directories(include)
 
 catkin_package(
   LIBRARIES 
@@ -134,8 +133,9 @@ target_link_libraries(
 
 add_library(
   ${PROJECT_NAME} SHARED
+  src/pipeline/pipeline_generator.cpp
+  src/pipeline/base_types.cpp
   src/camera.cpp
-  src/pipeline_generator.cpp
 )
 
 
@@ -177,6 +177,9 @@ install(
   DESTINATION lib/${PROJECT_NAME}
 )
 
+install(FILES plugins.xml
+      DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
 install(
     DIRECTORY include/
     DESTINATION include

depthai_ros_driver/cfg/parameters.cfg

@@ -82,7 +82,7 @@ camera.add("rgb_i_board_socket_id", int_t, 0, "Sensor board socket id", 0)
 camera.add("rgb_i_calibration_file", str_t, 0, "Path to calibration file", "")
 camera.add("rgb_i_fps", double_t, 0, "FPS", 60.0)
 camera.add("rgb_i_height", int_t, 0, "Image height", 720)
-camera.add("rgb_i_interleaved", bool_t, 0, "Is frame interleaved or planar", True)
+camera.add("rgb_i_interleaved", bool_t, 0, "Is frame interleaved or planar", False)
 camera.add("rgb_r_keep_preview_aspect_ratio", bool_t, 0, "Keep preview aspect ratio", True)
 camera.add("rgb_i_low_bandwidth", bool_t, 0, "Use encoding for data", False)
 camera.add("rgb_i_low_bandwidth_quality", int_t, 0, "Quality when using low-bandwidth mode", 50, 1, 100)
@@ -116,6 +116,9 @@ camera.add("stereo_i_decimation_filter_decimation_factor", int_t, 0, "Decimation
 camera.add("stereo_i_decimation_filter_decimation_mode", str_t, 0, "Decimation mode", "PIXEL_SKIPPING")
 camera.add("stereo_i_depth_filter_size", int_t, 0, "Depth filter size", 5)
 camera.add("stereo_i_depth_preset", str_t, 0, "Depth preset", "HIGH_ACCURACY")
+camera.add("stereo_i_enable_brightness_filter", bool_t, 0, "Enable brightness filter", False)
+camera.add("stereo_i_brightness_filter_min_brightness", int_t, 0, "Brightness filter min", 0)
+camera.add("stereo_i_brightness_filter_max_brightness", int_t, 0, "Brightness filter max", 256)
 camera.add("stereo_i_enable_companding", bool_t, 0, "Enable companding", False)
 camera.add("stereo_i_enable_decimation_filter", bool_t, 0, "Enable decimation filter", False)
 camera.add("stereo_i_enable_distortion_correction", bool_t, 0, "Enable distortion correction", True)
@@ -129,6 +132,13 @@ camera.add("stereo_i_low_bandwidth_quality", int_t, 0, "Quality when using low-b
 camera.add("stereo_i_lr_check", bool_t, 0, "Enable left-right check", True)
 camera.add("stereo_i_lrc_threshold", int_t, 0, "Left-right check threshold", 10)
 camera.add("stereo_i_max_q_size", int_t, 0, "Internal queue size", 30)
+camera.add("stereo_i_publish_left_rect", bool_t, 0, "Publish rectified left", False)
+camera.add("stereo_i_left_rect_low_bandwidth", bool_t, 0, "Low bandwidth for rectified left", False)
+camera.add("stereo_i_left_rect_low_bandwidth_quality", int_t, 0, "Low bandwidth left quality", 50)
+camera.add("stereo_i_publish_right_rect", bool_t, 0, "Publish rectified right", False)
+camera.add("stereo_i_right_rect_low_bandwidth", bool_t, 0, "Low bandwidth for rectified right", False)
+camera.add("stereo_i_right_rect_low_bandwidth_quality", int_t, 0, "Low bandwidth right quality", 50)
+camera.add("stereo_i_publish_topic", bool_t, 0, "Publish stereo topic", True)
 camera.add("stereo_i_rectify_edge_fill_color", int_t, 0, "Rectify edge fill color", 0)
 camera.add("stereo_i_spatial_filter_alpha", double_t, 0, "Spatial filter alpha", 0.5)
 camera.add("stereo_i_spatial_filter_delta", int_t, 0, "Spatial filter delta", 20)
@@ -159,6 +169,7 @@ camera.add("imu_i_acc_freq", int_t, 0, "Accelerometer frequency", 500)
 camera.add("imu_i_acc_cov", double_t, 0, "Accelerometer covariance", 0.0)
 camera.add("imu_i_batch_report_threshold", int_t, 0, "Batch report size", 5)
 camera.add("imu_i_enable_rotation", bool_t, 0, "Whether to enable rotation vector & magnetometer data (available when using IMU_WITH_MAGN/ IMU_WITH_MAGN_SPLIT message type)", False)
+camera.add("imu_i_get_base_device_timestamp", bool_t, 0, "Use base device timestamp", False)
 camera.add("imu_i_gyro_cov", double_t, 0, "Gyroscope covariance", 0.0)
 camera.add("imu_i_gyro_freq", int_t, 0, "Gyroscope frequency", 400)
 camera.add("imu_i_mag_cov", double_t, 0, "Magnetometer covariance", 0.0)

depthai_ros_driver/config/camera.yaml

@@ -20,7 +20,7 @@
   left_i_preview_size: 300
   left_i_publish_topic: false
   left_i_resolution: '720'
-  left_i_set_isp_scale: false
+  left_i_set_isp_scale: true
   left_i_width: 1280
   left_r_exposure: 1000
   left_r_focus: 1
@@ -67,7 +67,7 @@
   right_i_preview_size: 300
   right_i_publish_topic: false
   right_i_resolution: '720'
-  right_i_set_isp_scale: false
+  right_i_set_isp_scale: true
   right_i_width: 1280
   right_r_exposure: 1000
   right_r_focus: 1

depthai_ros_driver/include/depthai_ros_driver/dai_nodes/nn/detection.hpp

@@ -44,20 +44,25 @@ class Detection : public BaseNode {
     void setupQueues(std::shared_ptr<dai::Device> device) override {
         nnQ = device->getOutputQueue(nnQName, ph->getParam<int>("i_max_q_size"), false);
         auto tfPrefix = getTFPrefix("rgb");
-        detConverter = std::make_unique<dai::ros::ImgDetectionConverter>(tfPrefix + "_camera_optical_frame",
-                                                                         imageManip->initialConfig.getResizeConfig().width,
-                                                                         imageManip->initialConfig.getResizeConfig().height,
-                                                                         false,
-                                                                         ph->getParam<bool>("i_get_base_device_timestamp"));
+        int width;
+        int height;
+        if(ph->getParam<bool>("i_disable_resize")) {
+            width = ph->getOtherNodeParam<int>("rgb", "i_preview_size");
+            height = ph->getOtherNodeParam<int>("rgb", "i_preview_size");
+        } else {
+            width = imageManip->initialConfig.getResizeConfig().width;
+            height = imageManip->initialConfig.getResizeConfig().height;
+        }
+        detConverter = std::make_unique<dai::ros::ImgDetectionConverter>(
+            tfPrefix + "_camera_optical_frame", width, height, false, ph->getParam<bool>("i_get_base_device_timestamp"));
         detPub = getROSNode().template advertise<vision_msgs::Detection2DArray>(getName() + "/detections", 10);
         nnQ->addCallback(std::bind(&Detection::detectionCB, this, std::placeholders::_1, std::placeholders::_2));
 
         if(ph->getParam<bool>("i_enable_passthrough")) {
             ptQ = device->getOutputQueue(ptQName, ph->getParam<int>("i_max_q_size"), false);
             imageConverter = std::make_unique<dai::ros::ImageConverter>(tfPrefix + "_camera_optical_frame", false);
             infoManager = std::make_shared<camera_info_manager::CameraInfoManager>(ros::NodeHandle(getROSNode(), getName()), "/" + getName());
-            infoManager->setCameraInfo(sensor_helpers::getCalibInfo(
-                *imageConverter, device, dai::CameraBoardSocket::RGB, imageManip->initialConfig.getResizeWidth(), imageManip->initialConfig.getResizeWidth()));
+            infoManager->setCameraInfo(sensor_helpers::getCalibInfo(*imageConverter, device, dai::CameraBoardSocket::RGB, width, height));
 
             ptPub = it.advertiseCamera(getName() + "/passthrough/image_raw", 1);
             ptQ->addCallback(std::bind(sensor_helpers::imgCB, std::placeholders::_1, std::placeholders::_2, *imageConverter, ptPub, infoManager));

depthai_ros_driver/include/depthai_ros_driver/dai_nodes/nn/spatial_detection.hpp

@@ -47,23 +47,25 @@ class SpatialDetection : public BaseNode {
     void setupQueues(std::shared_ptr<dai::Device> device) override {
         nnQ = device->getOutputQueue(nnQName, ph->getParam<int>("i_max_q_size"), false);
         auto tfPrefix = getTFPrefix("rgb");
-        detConverter = std::make_unique<dai::ros::SpatialDetectionConverter>(tfPrefix + "_camera_optical_frame",
-                                                                             imageManip->initialConfig.getResizeConfig().width,
-                                                                             imageManip->initialConfig.getResizeConfig().height,
-                                                                             false,
-                                                                             ph->getParam<bool>("i_get_base_device_timestamp"));
+        int width;
+        int height;
+        if(ph->getParam<bool>("i_disable_resize")) {
+            width = ph->getOtherNodeParam<int>("rgb", "i_preview_size");
+            height = ph->getOtherNodeParam<int>("rgb", "i_preview_size");
+        } else {
+            width = imageManip->initialConfig.getResizeConfig().width;
+            height = imageManip->initialConfig.getResizeConfig().height;
+        }
+        detConverter = std::make_unique<dai::ros::SpatialDetectionConverter>(
+            tfPrefix + "_camera_optical_frame", width, height, false, ph->getParam<bool>("i_get_base_device_timestamp"));
         nnQ->addCallback(std::bind(&SpatialDetection::spatialCB, this, std::placeholders::_1, std::placeholders::_2));
         detPub = getROSNode().template advertise<vision_msgs::Detection3DArray>(getName() + "/spatial_detections", 10);
 
         if(ph->getParam<bool>("i_enable_passthrough")) {
             ptQ = device->getOutputQueue(ptQName, ph->getParam<int>("i_max_q_size"), false);
             ptImageConverter = std::make_unique<dai::ros::ImageConverter>(tfPrefix + "_camera_optical_frame", false);
             ptInfoMan = std::make_shared<camera_info_manager::CameraInfoManager>(ros::NodeHandle(getROSNode(), getName()), "/" + getName());
-            ptInfoMan->setCameraInfo(sensor_helpers::getCalibInfo(*ptImageConverter,
-                                                                  device,
-                                                                  dai::CameraBoardSocket::RGB,
-                                                                  imageManip->initialConfig.getResizeWidth(),
-                                                                  imageManip->initialConfig.getResizeWidth()));
+            ptInfoMan->setCameraInfo(sensor_helpers::getCalibInfo(*ptImageConverter, device, dai::CameraBoardSocket::RGB, width, height));
 
             ptPub = it.advertiseCamera(getName() + "/passthrough/image_raw", 1);
             ptQ->addCallback(std::bind(sensor_helpers::imgCB, std::placeholders::_1, std::placeholders::_2, *ptImageConverter, ptPub, ptInfoMan));
@@ -80,9 +82,8 @@ class SpatialDetection : public BaseNode {
             ptDepthQ = device->getOutputQueue(ptDepthQName, ph->getParam<int>("i_max_q_size"), false);
             ptDepthImageConverter = std::make_unique<dai::ros::ImageConverter>(tfPrefix + "_camera_optical_frame", false);
             ptDepthInfoMan = std::make_shared<camera_info_manager::CameraInfoManager>(ros::NodeHandle(getROSNode(), getName()), "/" + getName());
-            int width, height;
-            getROSNode().getParam("stereo_i_width", width);
-            getROSNode().getParam("stereo_i_height", height);
+            int width = ph->getOtherNodeParam<int>("stereo", "i_width");
+            int height = ph->getOtherNodeParam<int>("stereo", "i_height");
             ptDepthInfoMan->setCameraInfo(sensor_helpers::getCalibInfo(*ptDepthImageConverter, device, socket, width, height));
 
             ptDepthPub = it.advertiseCamera(getName() + "/passthrough_depth/image_raw", 1);

depthai_ros_driver/include/depthai_ros_driver/dai_nodes/sensors/sensor_wrapper.hpp

@@ -7,6 +7,7 @@
 #include "depthai-shared/common/CameraBoardSocket.hpp"
 #include "depthai/pipeline/Node.hpp"
 #include "depthai_ros_driver/dai_nodes/base_node.hpp"
+#include "depthai_ros_driver/dai_nodes/sensors/sensor_helpers.hpp"
 #include "ros/subscriber.h"
 #include "sensor_msgs/Image.h"
 
@@ -47,6 +48,7 @@ class SensorWrapper : public BaseNode {
     void setNames() override;
     void setXinXout(std::shared_ptr<dai::Pipeline> pipeline) override;
     void closeQueues() override;
+    sensor_helpers::ImageSensor getSensorData();
 
    private:
     void subCB(const sensor_msgs::Image::ConstPtr& img);
@@ -59,6 +61,7 @@ class SensorWrapper : public BaseNode {
     std::string inQName;
     int socketID;
     bool ready;
+    sensor_helpers::ImageSensor sensorData;
 };
 
 }  // namespace dai_nodes