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Humble 2.10.4 (#621)
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‎depthai-ros/CHANGELOG.rst

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Changelog for package depthai-ros
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.10.4 (2024-11-07)
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-------------------
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* Fix rectified topic names
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* Fix pointcloud launch
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* Add sensor parameters for max autoexposure, sharpness, luma and chroma denoise
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2.10.3 (2024-10-14)
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-------------------
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* Allow setting USB speed without specifying device information

‎depthai-ros/CMakeLists.txt

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cmake_minimum_required(VERSION 3.10.2) # CMake version in Ubuntu 18.04 LTS
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project(depthai-ros VERSION 2.10.3 LANGUAGES CXX C)
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project(depthai-ros VERSION 2.10.4 LANGUAGES CXX C)
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set(CMAKE_CXX_STANDARD 14)
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‎depthai-ros/package.xml

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<?xml version="1.0"?>
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<package format="3">
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<name>depthai-ros</name>
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<version>2.10.3</version>
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<version>2.10.4</version>
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<description>The depthai-ros package</description>
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<!-- One maintainer tag required, multiple allowed, one person per tag -->

‎depthai_bridge/CMakeLists.txt

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cmake_minimum_required(VERSION 3.10.2) # CMake version in Ubuntu 18.04 LTS
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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project(depthai_bridge VERSION 2.10.3 LANGUAGES CXX C)
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project(depthai_bridge VERSION 2.10.4 LANGUAGES CXX C)
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)

‎depthai_bridge/package.xml

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<?xml version="1.0"?>
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<package format="3">
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<name>depthai_bridge</name>
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<version>2.10.3</version>
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<version>2.10.4</version>
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<description>The depthai_bridge package</description>
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<maintainer email="[email protected]">Adam Serafin</maintainer>

‎depthai_descriptions/CMakeLists.txt

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@@ -1,5 +1,5 @@
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cmake_minimum_required(VERSION 3.8)
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project(depthai_descriptions VERSION 2.10.3)
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project(depthai_descriptions VERSION 2.10.4)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)

‎depthai_descriptions/package.xml

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<?xml version="1.0"?>
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<package format="3">
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<name>depthai_descriptions</name>
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<version>2.10.3</version>
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<version>2.10.4</version>
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<description>The depthai_descriptions package</description>
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<maintainer email="[email protected]">Adam Serafin</maintainer>

‎depthai_examples/CMakeLists.txt

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@@ -1,5 +1,5 @@
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cmake_minimum_required(VERSION 3.10.2) # CMake version in Ubuntu 18.04 LTS
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project(depthai_examples VERSION 2.10.3 LANGUAGES CXX C)
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project(depthai_examples VERSION 2.10.4 LANGUAGES CXX C)
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)

‎depthai_examples/package.xml

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<?xml version="1.0"?>
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<package format="3">
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<name>depthai_examples</name>
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<version>2.10.3</version>
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<version>2.10.4</version>
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<description>The depthai_examples package</description>
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<!-- One maintainer tag required, multiple allowed, one person per tag -->

‎depthai_filters/CMakeLists.txt

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@@ -1,5 +1,5 @@
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cmake_minimum_required(VERSION 3.8)
2-
project(depthai_filters VERSION 2.10.3 LANGUAGES CXX C)
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project(depthai_filters VERSION 2.10.4 LANGUAGES CXX C)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)

‎depthai_filters/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>depthai_filters</name>
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<version>2.10.3</version>
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<version>2.10.4</version>
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<description>Depthai filters package</description>
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<maintainer email="[email protected]">Adam Serafin</maintainer>
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<license>MIT</license>

‎depthai_ros_driver/CMakeLists.txt

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@@ -1,5 +1,5 @@
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cmake_minimum_required(VERSION 3.22)
2-
project(depthai_ros_driver VERSION 2.10.3)
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project(depthai_ros_driver VERSION 2.10.4)
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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set(CMAKE_BUILD_SHARED_LIBS ON)
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

‎depthai_ros_driver/config/pcl.yaml

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@@ -6,4 +6,5 @@
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i_align_depth: true
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i_board_socket_id: 2
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i_subpixel: true
9-
i_publish_right_rect: true
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i_right_rect_publish_topic: true
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i_right_rect_synced: false

‎depthai_ros_driver/launch/camera.launch.py

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@@ -143,8 +143,8 @@ def launch_setup(context, *args, **kwargs):
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},
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}
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parameter_overrides["depth"] = {
146-
"i_publish_left_rect": True,
147-
"i_publish_right_rect": True,
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"i_left_rect_publish_topic": True,
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"i_right_rect_publish_topic": True,
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}
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tf_params = {}

‎depthai_ros_driver/package.xml

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@@ -2,7 +2,7 @@
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>depthai_ros_driver</name>
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<version>2.10.3</version>
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<version>2.10.4</version>
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<description>Depthai ROS Monolithic node.</description>
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<maintainer email="[email protected]">Adam Serafin</maintainer>
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‎depthai_ros_driver/src/dai_nodes/sensors/stereo.cpp

+1-1
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@@ -155,7 +155,7 @@ void Stereo::setupRectQueue(std::shared_ptr<dai::Device> device,
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pubConfig.width = ph->getOtherNodeParam<int>(sensorName, "i_width");
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pubConfig.height = ph->getOtherNodeParam<int>(sensorName, "i_height");
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pubConfig.topicName = "~/" + sensorName;
158-
pubConfig.topicSuffix = rsCompabilityMode() ? "/image_rect_raw" : "/image_raw";
158+
pubConfig.topicSuffix = rsCompabilityMode() ? "/image_rect_raw" : "/image_rect";
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pubConfig.maxQSize = ph->getOtherNodeParam<int>(sensorName, "i_max_q_size");
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pubConfig.socket = sensorInfo.socket;
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pubConfig.infoMgrSuffix = "rect";

‎depthai_ros_driver/src/param_handlers/sensor_param_handler.cpp

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@@ -79,6 +79,22 @@ void SensorParamHandler::declareParams(std::shared_ptr<dai::node::MonoCamera> mo
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}
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monoCam->setImageOrientation(
8181
utils::getValFromMap(declareAndLogParam<std::string>("i_sensor_img_orientation", "AUTO"), dai_nodes::sensor_helpers::cameraImageOrientationMap));
82+
int expLimit = declareAndLogParam<int>("r_auto_exposure_limit", 1000);
83+
if(declareAndLogParam<bool>("r_set_auto_exposure_limit", false)) {
84+
monoCam->initialControl.setAutoExposureLimit(expLimit);
85+
}
86+
int sharpness = declareAndLogParam<int>("r_sharpness", 1);
87+
if(declareAndLogParam("r_set_sharpness", false)) {
88+
monoCam->initialControl.setSharpness(sharpness);
89+
}
90+
int chromaDenoise = declareAndLogParam<int>("r_chroma_denoise", 1);
91+
if(declareAndLogParam("r_set_chroma_denoise", false)) {
92+
monoCam->initialControl.setChromaDenoise(chromaDenoise);
93+
}
94+
int lumaDenoise = declareAndLogParam<int>("r_luma_denoise", 1);
95+
if(declareAndLogParam("r_set_luma_denoise", false)) {
96+
monoCam->initialControl.setLumaDenoise(lumaDenoise);
97+
}
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}
8399
void SensorParamHandler::declareParams(std::shared_ptr<dai::node::ColorCamera> colorCam, dai_nodes::sensor_helpers::ImageSensor sensor, bool publish) {
84100
declareAndLogParam<bool>("i_publish_topic", publish);
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}
179195
colorCam->setImageOrientation(
180196
utils::getValFromMap(declareAndLogParam<std::string>("i_sensor_img_orientation", "AUTO"), dai_nodes::sensor_helpers::cameraImageOrientationMap));
197+
int expLimit = declareAndLogParam<int>("r_auto_exposure_limit", 1000);
198+
if(declareAndLogParam<bool>("r_set_auto_exposure_limit", false)) {
199+
colorCam->initialControl.setAutoExposureLimit(expLimit);
200+
}
201+
int sharpness = declareAndLogParam<int>("r_sharpness", 1);
202+
if(declareAndLogParam("r_set_sharpness", false)) {
203+
colorCam->initialControl.setSharpness(sharpness);
204+
}
205+
int chromaDenoise = declareAndLogParam<int>("r_chroma_denoise", 1);
206+
if(declareAndLogParam("r_set_chroma_denoise", false)) {
207+
colorCam->initialControl.setChromaDenoise(chromaDenoise);
208+
}
209+
int lumaDenoise = declareAndLogParam<int>("r_luma_denoise", 1);
210+
if(declareAndLogParam("r_set_luma_denoise", false)) {
211+
colorCam->initialControl.setLumaDenoise(lumaDenoise);
212+
}
181213
}
182214
dai::CameraControl SensorParamHandler::setRuntimeParams(const std::vector<rclcpp::Parameter>& params) {
183215
dai::CameraControl ctrl;
@@ -216,6 +248,38 @@ dai::CameraControl SensorParamHandler::setRuntimeParams(const std::vector<rclcpp
216248
if(getParam<bool>("r_set_man_whitebalance")) {
217249
ctrl.setManualWhiteBalance(p.get_value<int>());
218250
}
251+
} else if(p.get_name() == getFullParamName("r_set_auto_exposure_limit")) {
252+
if(p.get_value<bool>()) {
253+
ctrl.setAutoExposureLimit(getParam<int>("r_auto_exposure_limit"));
254+
}
255+
} else if(p.get_name() == getFullParamName("r_auto_exposure_limit")) {
256+
if(getParam<bool>("r_set_auto_exposure_limit")) {
257+
ctrl.setAutoExposureLimit(p.get_value<int>());
258+
}
259+
} else if(p.get_name() == getFullParamName("r_set_sharpness")) {
260+
if(p.get_value<bool>()) {
261+
ctrl.setSharpness(getParam<int>("r_sharpness"));
262+
}
263+
} else if(p.get_name() == getFullParamName("r_sharpness")) {
264+
if(getParam<bool>("r_set_sharpness")) {
265+
ctrl.setSharpness(p.get_value<int>());
266+
}
267+
} else if(p.get_name() == getFullParamName("r_set_chroma_denoise")) {
268+
if(p.get_value<bool>()) {
269+
ctrl.setChromaDenoise(getParam<int>("r_chroma_denoise"));
270+
}
271+
} else if(p.get_name() == getFullParamName("r_chroma_denoise")) {
272+
if(getParam<bool>("r_set_chroma_denoise")) {
273+
ctrl.setChromaDenoise(p.get_value<int>());
274+
}
275+
} else if(p.get_name() == getFullParamName("r_set_luma_denoise")) {
276+
if(p.get_value<bool>()) {
277+
ctrl.setLumaDenoise(getParam<int>("r_luma_denoise"));
278+
}
279+
} else if(p.get_name() == getFullParamName("r_luma_denoise")) {
280+
if(getParam<bool>("r_set_luma_denoise")) {
281+
ctrl.setLumaDenoise(p.get_value<int>());
282+
}
219283
}
220284
}
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return ctrl;

‎depthai_ros_driver/src/param_handlers/stereo_param_handler.cpp

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@@ -82,7 +82,7 @@ void StereoParamHandler::declareParams(std::shared_ptr<dai::node::StereoDepth> s
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declareAndLogParam<bool>("i_left_rect_add_exposure_offset", false);
8383
declareAndLogParam<int>("i_left_rect_exposure_offset", 0);
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declareAndLogParam<bool>("i_left_rect_enable_feature_tracker", false);
85-
declareAndLogParam<bool>("i_left_rect_synced", true);
85+
declareAndLogParam<bool>("i_left_rect_synced", false);
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declareAndLogParam<bool>("i_left_rect_publish_compressed", false);
8787

8888
declareAndLogParam<bool>("i_right_rect_publish_topic", false);
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declareAndLogParam<bool>("i_right_rect_enable_feature_tracker", false);
9696
declareAndLogParam<bool>("i_right_rect_add_exposure_offset", false);
9797
declareAndLogParam<int>("i_right_rect_exposure_offset", 0);
98-
declareAndLogParam<bool>("i_right_rect_synced", true);
98+
declareAndLogParam<bool>("i_right_rect_synced", false);
9999
declareAndLogParam<bool>("i_right_rect_publish_compressed", false);
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101101
declareAndLogParam<bool>("i_enable_spatial_nn", false);

‎depthai_ros_msgs/CMakeLists.txt

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cmake_minimum_required(VERSION 3.10.2) # CMake version in Ubuntu 18.04 LTS
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project(depthai_ros_msgs VERSION 2.10.3)
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project(depthai_ros_msgs VERSION 2.10.4)
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if(POLICY CMP0057)
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cmake_policy(SET CMP0057 NEW)

‎depthai_ros_msgs/package.xml

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<?xml version="1.0"?>
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<package format="3">
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<name>depthai_ros_msgs</name>
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<version>2.10.3</version>
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<version>2.10.4</version>
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<description>Package to keep interface independent of the driver</description>
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<maintainer email="[email protected]">Adam Serafin</maintainer>

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