luxonis · Serafadam · Nov 7, 2024 · Oct 31, 2024 · Nov 7, 2024 · Nov 7, 2024
diff --git a/depthai-ros/CHANGELOG.rst b/depthai-ros/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package depthai-ros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+
+2.10.4 (2024-11-07)
+-------------------
+* Fix rectified topic names
+* Fix pointcloud launch
+* Add sensor parameters for max autoexposure, sharpness, luma and chroma denoise
+
 2.10.3 (2024-10-14)
 -------------------
 * Allow setting USB speed without specifying device information

diff --git a/depthai-ros/CMakeLists.txt b/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 2.10.3 LANGUAGES CXX C)
+project(depthai-ros VERSION 2.10.4 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 

diff --git a/depthai-ros/package.xml b/depthai-ros/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai-ros</name>
-  <version>2.10.3</version>
+  <version>2.10.4</version>
   <description>The depthai-ros package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->

diff --git a/depthai_bridge/CMakeLists.txt b/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 2.10.3 LANGUAGES CXX C)
+project(depthai_bridge VERSION 2.10.4 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

diff --git a/depthai_bridge/package.xml b/depthai_bridge/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai_bridge</name>
-  <version>2.10.3</version>
+  <version>2.10.4</version>
   <description>The depthai_bridge package</description>
 
   <maintainer email="[email protected]">Adam Serafin</maintainer>

diff --git a/depthai_descriptions/CMakeLists.txt b/depthai_descriptions/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(depthai_descriptions VERSION 2.10.3)
+project(depthai_descriptions VERSION 2.10.4)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)

diff --git a/depthai_descriptions/package.xml b/depthai_descriptions/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai_descriptions</name>
-  <version>2.10.3</version>
+  <version>2.10.4</version>
   <description>The depthai_descriptions package</description>
 
   <maintainer email="[email protected]">Adam Serafin</maintainer>

diff --git a/depthai_examples/CMakeLists.txt b/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 2.10.3 LANGUAGES CXX C)
+project(depthai_examples VERSION 2.10.4 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

diff --git a/depthai_examples/package.xml b/depthai_examples/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai_examples</name>
-  <version>2.10.3</version>
+  <version>2.10.4</version>
   <description>The depthai_examples package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->

diff --git a/depthai_filters/CMakeLists.txt b/depthai_filters/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(depthai_filters VERSION 2.10.3 LANGUAGES CXX C)
+project(depthai_filters VERSION 2.10.4 LANGUAGES CXX C)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)

diff --git a/depthai_filters/package.xml b/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>2.10.3</version>
+  <version>2.10.4</version>
   <description>Depthai filters package</description>
   <maintainer email="[email protected]">Adam Serafin</maintainer>
   <license>MIT</license>

diff --git a/depthai_ros_driver/CMakeLists.txt b/depthai_ros_driver/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.22)
-project(depthai_ros_driver VERSION 2.10.3)
+project(depthai_ros_driver VERSION 2.10.4)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 set(CMAKE_BUILD_SHARED_LIBS ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

diff --git a/depthai_ros_driver/config/pcl.yaml b/depthai_ros_driver/config/pcl.yaml
@@ -6,4 +6,5 @@
       i_align_depth: true
       i_board_socket_id: 2
       i_subpixel: true
-      i_publish_right_rect: true
+      i_right_rect_publish_topic: true
+      i_right_rect_synced: false
diff --git a/depthai_ros_driver/launch/camera.launch.py b/depthai_ros_driver/launch/camera.launch.py
@@ -143,8 +143,8 @@ def launch_setup(context, *args, **kwargs):
             },
         }
         parameter_overrides["depth"] = {
-            "i_publish_left_rect": True,
-            "i_publish_right_rect": True,
+            "i_left_rect_publish_topic": True,
+            "i_right_rect_publish_topic": True,
         }
 
     tf_params = {}

diff --git a/depthai_ros_driver/package.xml b/depthai_ros_driver/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_ros_driver</name>
-  <version>2.10.3</version>
+  <version>2.10.4</version>
   <description>Depthai ROS Monolithic node.</description>
   <maintainer email="[email protected]">Adam Serafin</maintainer>
 

diff --git a/depthai_ros_driver/src/dai_nodes/sensors/stereo.cpp b/depthai_ros_driver/src/dai_nodes/sensors/stereo.cpp
@@ -155,7 +155,7 @@ void Stereo::setupRectQueue(std::shared_ptr<dai::Device> device,
     pubConfig.width = ph->getOtherNodeParam<int>(sensorName, "i_width");
     pubConfig.height = ph->getOtherNodeParam<int>(sensorName, "i_height");
     pubConfig.topicName = "~/" + sensorName;
-    pubConfig.topicSuffix = rsCompabilityMode() ? "/image_rect_raw" : "/image_raw";
+    pubConfig.topicSuffix = rsCompabilityMode() ? "/image_rect_raw" : "/image_rect";
     pubConfig.maxQSize = ph->getOtherNodeParam<int>(sensorName, "i_max_q_size");
     pubConfig.socket = sensorInfo.socket;
     pubConfig.infoMgrSuffix = "rect";

diff --git a/depthai_ros_driver/src/param_handlers/sensor_param_handler.cpp b/depthai_ros_driver/src/param_handlers/sensor_param_handler.cpp
@@ -79,6 +79,22 @@ void SensorParamHandler::declareParams(std::shared_ptr<dai::node::MonoCamera> mo
     }
     monoCam->setImageOrientation(
         utils::getValFromMap(declareAndLogParam<std::string>("i_sensor_img_orientation", "AUTO"), dai_nodes::sensor_helpers::cameraImageOrientationMap));
+	int expLimit = declareAndLogParam<int>("r_auto_exposure_limit", 1000);
+    if(declareAndLogParam<bool>("r_set_auto_exposure_limit", false)) {
+        monoCam->initialControl.setAutoExposureLimit(expLimit);
+    }
+	int sharpness = declareAndLogParam<int>("r_sharpness", 1);
+    if(declareAndLogParam("r_set_sharpness", false)) {
+        monoCam->initialControl.setSharpness(sharpness);
+    }
+	int chromaDenoise = declareAndLogParam<int>("r_chroma_denoise", 1);
+    if(declareAndLogParam("r_set_chroma_denoise", false)) {
+        monoCam->initialControl.setChromaDenoise(chromaDenoise);
+    }
+	int lumaDenoise = declareAndLogParam<int>("r_luma_denoise", 1);
+    if(declareAndLogParam("r_set_luma_denoise", false)) {
+        monoCam->initialControl.setLumaDenoise(lumaDenoise);
+    }
 }
 void SensorParamHandler::declareParams(std::shared_ptr<dai::node::ColorCamera> colorCam, dai_nodes::sensor_helpers::ImageSensor sensor, bool publish) {
     declareAndLogParam<bool>("i_publish_topic", publish);
@@ -178,6 +194,22 @@ void SensorParamHandler::declareParams(std::shared_ptr<dai::node::ColorCamera> c
     }
     colorCam->setImageOrientation(
         utils::getValFromMap(declareAndLogParam<std::string>("i_sensor_img_orientation", "AUTO"), dai_nodes::sensor_helpers::cameraImageOrientationMap));
+	int expLimit = declareAndLogParam<int>("r_auto_exposure_limit", 1000);
+    if(declareAndLogParam<bool>("r_set_auto_exposure_limit", false)) {
+        colorCam->initialControl.setAutoExposureLimit(expLimit);
+    }
+	int sharpness = declareAndLogParam<int>("r_sharpness", 1);
+    if(declareAndLogParam("r_set_sharpness", false)) {
+        colorCam->initialControl.setSharpness(sharpness);
+    }
+	int chromaDenoise = declareAndLogParam<int>("r_chroma_denoise", 1);
+    if(declareAndLogParam("r_set_chroma_denoise", false)) {
+        colorCam->initialControl.setChromaDenoise(chromaDenoise);
+    }
+	int lumaDenoise = declareAndLogParam<int>("r_luma_denoise", 1);
+    if(declareAndLogParam("r_set_luma_denoise", false)) {
+        colorCam->initialControl.setLumaDenoise(lumaDenoise);
+    }
 }
 dai::CameraControl SensorParamHandler::setRuntimeParams(const std::vector<rclcpp::Parameter>& params) {
     dai::CameraControl ctrl;
@@ -216,6 +248,38 @@ dai::CameraControl SensorParamHandler::setRuntimeParams(const std::vector<rclcpp
             if(getParam<bool>("r_set_man_whitebalance")) {
                 ctrl.setManualWhiteBalance(p.get_value<int>());
             }
+        } else if(p.get_name() == getFullParamName("r_set_auto_exposure_limit")) {
+            if(p.get_value<bool>()) {
+                ctrl.setAutoExposureLimit(getParam<int>("r_auto_exposure_limit"));
+            }
+        } else if(p.get_name() == getFullParamName("r_auto_exposure_limit")) {
+            if(getParam<bool>("r_set_auto_exposure_limit")) {
+                ctrl.setAutoExposureLimit(p.get_value<int>());
+            }
+        } else if(p.get_name() == getFullParamName("r_set_sharpness")) {
+            if(p.get_value<bool>()) {
+                ctrl.setSharpness(getParam<int>("r_sharpness"));
+            }
+        } else if(p.get_name() == getFullParamName("r_sharpness")) {
+            if(getParam<bool>("r_set_sharpness")) {
+                ctrl.setSharpness(p.get_value<int>());
+            }
+        } else if(p.get_name() == getFullParamName("r_set_chroma_denoise")) {
+            if(p.get_value<bool>()) {
+                ctrl.setChromaDenoise(getParam<int>("r_chroma_denoise"));
+            }
+        } else if(p.get_name() == getFullParamName("r_chroma_denoise")) {
+            if(getParam<bool>("r_set_chroma_denoise")) {
+                ctrl.setChromaDenoise(p.get_value<int>());
+            }
+        } else if(p.get_name() == getFullParamName("r_set_luma_denoise")) {
+            if(p.get_value<bool>()) {
+                ctrl.setLumaDenoise(getParam<int>("r_luma_denoise"));
+            }
+        } else if(p.get_name() == getFullParamName("r_luma_denoise")) {
+            if(getParam<bool>("r_set_luma_denoise")) {
+                ctrl.setLumaDenoise(p.get_value<int>());
+            }
         }
     }
     return ctrl;

diff --git a/depthai_ros_driver/src/param_handlers/stereo_param_handler.cpp b/depthai_ros_driver/src/param_handlers/stereo_param_handler.cpp
@@ -82,7 +82,7 @@ void StereoParamHandler::declareParams(std::shared_ptr<dai::node::StereoDepth> s
     declareAndLogParam<bool>("i_left_rect_add_exposure_offset", false);
     declareAndLogParam<int>("i_left_rect_exposure_offset", 0);
     declareAndLogParam<bool>("i_left_rect_enable_feature_tracker", false);
-    declareAndLogParam<bool>("i_left_rect_synced", true);
+    declareAndLogParam<bool>("i_left_rect_synced", false);
     declareAndLogParam<bool>("i_left_rect_publish_compressed", false);
 
     declareAndLogParam<bool>("i_right_rect_publish_topic", false);
@@ -95,7 +95,7 @@ void StereoParamHandler::declareParams(std::shared_ptr<dai::node::StereoDepth> s
     declareAndLogParam<bool>("i_right_rect_enable_feature_tracker", false);
     declareAndLogParam<bool>("i_right_rect_add_exposure_offset", false);
     declareAndLogParam<int>("i_right_rect_exposure_offset", 0);
-    declareAndLogParam<bool>("i_right_rect_synced", true);
+    declareAndLogParam<bool>("i_right_rect_synced", false);
     declareAndLogParam<bool>("i_right_rect_publish_compressed", false);
 
     declareAndLogParam<bool>("i_enable_spatial_nn", false);

diff --git a/depthai_ros_msgs/CMakeLists.txt b/depthai_ros_msgs/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.10.2)  # CMake version in Ubuntu 18.04 LTS
 
-project(depthai_ros_msgs VERSION 2.10.3)
+project(depthai_ros_msgs VERSION 2.10.4)
 
 if(POLICY CMP0057)
     cmake_policy(SET CMP0057 NEW)

diff --git a/depthai_ros_msgs/package.xml b/depthai_ros_msgs/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai_ros_msgs</name>
-  <version>2.10.3</version>
+  <version>2.10.4</version>
   <description>Package to keep interface independent of the driver</description>
 
   <maintainer email="[email protected]">Adam Serafin</maintainer>