Pipeline generation as plugins (#321)

.github/pull_request_template.md

@@ -0,0 +1,15 @@
+## Overview
+Author: 
+
+## Issue 
+Issue link (if present):
+Issue description:
+Related PRs
+
+## Changes
+ROS distro:
+List of changes:
+
+## Testing
+Hardware used:
+Depthai library version:

README.md

@@ -185,6 +185,26 @@ As for the parameters themselves, there are a few crucial ones that decide on ho
   * `Depth` - Publishes only depth stream, no NN available
   * `CamArray` - Publishes streams for all detected sensors, no NN available
 This tells the camera whether it should load stereo components. Default set to `RGBD`.
+It is also possible to create a custom pipeline since all types are defined as plugins. 
+
+To do that, you can create a custom package (let's say `test_plugins`), create an executable in that package (`test_plugins.cpp`). Inside that file, define a cusom plugin that inherits from `depthai_ros_driver::pipeline_gen::BasePipeline` and overrides `createPipeline` method.
+
+After that export plugin, for example:
+
+```c++
+#include <pluginlib/class_list_macros.hpp>
+PLUGINLIB_EXPORT_CLASS(test_plugins::Test, depthai_ros_driver::pipeline_gen::BasePipeline)
+```
+Add plugin definition:
+```xml
+<library path="test_plugins">
+    <class type="test_plugins::Test" base_class_type="depthai_ros_driver::pipeline_gen::BasePipeline">
+        <description>Test Pipeline.</description>
+    </class>
+</library>
+```
+
+Now you can use created plugin as pipeline, just set `camera.i_pipeline_type` to `test_plugins::Test`.
 
 * `camera.i_nn_type` can be either `none`, `rgb` or `spatial`. This is responsible for whether the NN that we load should also take depth information (and for example provide detections in 3D format). Default set to `spatial`
 * `camera.i_mx_id`/`camera.i_ip`/`camera.i_usb_port_id` are for connecting to a specific camera. If not set, it automatically connects to the next available device. You can get those parameters from logs by running the default launch file.

depthai-ros/CHANGELOG.rst

@@ -2,7 +2,15 @@
 Changelog for package depthai-ros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.7.2 (20230-5-08)
+2.7.3 (20230-06-16)
+
+* Pipeline generation as a plugin
+* Fixed bounding box generation issue
+* Stereo rectified streams publishing
+* Camera trigger mechanisms
+* Brightness filter
+
+2.7.2 (20230-05-08)
 * 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

@@ -32,7 +32,8 @@ 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();
     void toRosMsg(std::shared_ptr<dai::IMUData> inData, std::deque<ImuMsgs::Imu>& outImuMsgs);
     void toRosDaiMsg(std::shared_ptr<dai::IMUData> inData, std::deque<depthai_ros_msgs::msg::ImuWithMagneticField>& outImuMsgs);
@@ -112,6 +113,7 @@ class ImuConverter {
     ImuSyncMethod _syncMode;
     std::chrono::time_point<std::chrono::steady_clock> _steadyBaseTime;
     rclcpp::Time _rosBaseTime;
+    bool _getBaseDeviceTimestamp;
 
     void fillImuMsg(dai::IMUReportAccelerometer report, ImuMsgs::Imu& msg);
     void fillImuMsg(dai::IMUReportGyroscope report, ImuMsgs::Imu& msg);
@@ -124,15 +126,15 @@ class ImuConverter {
     void fillImuMsg(dai::IMUReportMagneticField report, depthai_ros_msgs::msg::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>
@@ -162,7 +164,12 @@ 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 = rclcpp::Clock().now();
 }
 
@@ -91,7 +93,13 @@ 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);
         }
     }
@@ -107,7 +115,13 @@ 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::msg::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 3.8)
-project(depthai_descriptions VERSION 2.7.2)
+project(depthai_descriptions VERSION 2.7.3)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)

depthai_descriptions/package.xml

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

depthai_descriptions/urdf/include/depthai_macro.urdf.xacro

@@ -24,7 +24,6 @@
       <xacro:property name="imu_y" value="0" />
     </xacro:if>
 
-
     <!-- base_link of the sensor-->
     <link name="${base_frame}"/>
 

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/launch/stereo_inertial_node.launch.py

@@ -153,6 +153,7 @@ def generate_launch_description():
         'cam_yaw',
         default_value=cam_yaw,
         description='Yaw orientation of the camera with respect to the base frame.')
+
 
     declare_lrcheck_cmd = DeclareLaunchArgument(
         'lrcheck',
@@ -298,6 +299,7 @@ def generate_launch_description():
         'enableRviz',
         default_value=enableRviz,
         description='When True create a RVIZ window.')
+
 
 
     urdf_launch = IncludeLaunchDescription(

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 3.8)
-project(depthai_filters VERSION 2.7.2 LANGUAGES CXX C)
+project(depthai_filters VERSION 2.7.3 LANGUAGES CXX C)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)

depthai_filters/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>depthai_filters</name>
-  <version>2.7.2</version>
+  <version>2.7.3</version>
   <description>Depthai filters package</description>
   <maintainer email="[email protected]">Adam Serafin</maintainer>
   <license>MIT</license>

depthai_ros_driver/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.22)
-project(depthai_ros_driver VERSION 2.7.2)
+project(depthai_ros_driver VERSION 2.7.3)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 set(CMAKE_BUILD_SHARED_LIBS ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
@@ -52,6 +52,7 @@ depthai
 rclcpp 
 rclcpp_components 
 std_srvs
+pluginlib
 )
 
 
@@ -103,7 +104,8 @@ target_link_libraries(
 add_library(
   ${PROJECT_NAME} SHARED
   src/camera.cpp
-  src/pipeline_generator.cpp
+  src/pipeline/pipeline_generator.cpp
+  src/pipeline/base_types.cpp
 )
 
 ament_target_dependencies(${PROJECT_NAME} ${CAM_DEPS})
@@ -116,18 +118,28 @@ target_link_libraries(
 
 
 rclcpp_components_register_nodes(${PROJECT_NAME} "${PROJECT_NAME}::Camera")
+pluginlib_export_plugin_description_file(${PROJECT_NAME} plugins.xml)
 ament_export_include_directories(include)
 
+ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
+ament_export_libraries(${PROJECT_NAME})
+ament_export_dependencies(${COMMON_DEPS} ${SENSOR_DEPS} ${NN_DEPS} ${CAM_DEPS})
+
 install(DIRECTORY launch config DESTINATION share/${PROJECT_NAME})
 
-install(
-  TARGETS
-  ${PROJECT_NAME} ${COMMON_LIB_NAME} ${SENSOR_LIB_NAME} ${NN_LIB_NAME}
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
+install(TARGETS ${PROJECT_NAME}  ${SENSOR_LIB_NAME}
+${NN_LIB_NAME}
+${COMMON_LIB_NAME}
+EXPORT ${PROJECT_NAME}Targets
+        ARCHIVE DESTINATION lib
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION bin
+        INCLUDES DESTINATION include
 )
 
+install(EXPORT ${PROJECT_NAME}Targets
+      DESTINATION share/${PROJECT_NAME}/cmake)
+
 ament_python_install_package(${PROJECT_NAME})
 # Install Python executables
 install(
@@ -139,6 +151,7 @@ install(
 ament_export_include_directories(
   include
 )
+
 install(
     DIRECTORY include/
     DESTINATION include