Iron 2.10.5 (luxonis#626)

botsandus · Nov 13, 2024 · 7935cb0 · 7935cb0
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diff --git a/depthai-ros/CHANGELOG.rst b/depthai-ros/CHANGELOG.rst
@@ -2,6 +2,16 @@
 Changelog for package depthai-ros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.10.5 (2024-11-12)
+-------------------
+* Fix low bandwidth stereo publishing
+
+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 2.10.5 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>2.10.5</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 2.10.5 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>2.10.5</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 2.10.5)
 
 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>2.10.5</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 2.10.5 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>2.10.5</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 2.10.5 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>2.10.5</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 2.10.5)
 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 +6,4 @@
       i_align_depth: true
       i_board_socket_id: 2
       i_subpixel: true
-      i_publish_right_rect: true
+      i_right_rect_publish_topic: true
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>2.10.5</version>
   <description>Depthai ROS Monolithic node.</description>
   <maintainer email="[email protected]">Adam Serafin</maintainer>
 

diff --git a/depthai_ros_driver/src/dai_nodes/sensors/img_pub.cpp b/depthai_ros_driver/src/dai_nodes/sensors/img_pub.cpp
@@ -99,7 +99,7 @@ void ImagePublisher::createImageConverter(std::shared_ptr<dai::Device> device) {
     if(convConfig.alphaScalingEnabled) {
         converter->setAlphaScaling(convConfig.alphaScaling);
     }
-    if(convConfig.outputDisparity) {
+    if(!convConfig.outputDisparity) {
         auto calHandler = device->readCalibration();
         double baseline = calHandler.getBaselineDistance(pubConfig.leftSocket, pubConfig.rightSocket, false);
         if(convConfig.reverseSocketOrder) {

diff --git a/depthai_ros_driver/src/dai_nodes/sensors/stereo.cpp b/depthai_ros_driver/src/dai_nodes/sensors/stereo.cpp
@@ -80,8 +80,9 @@ void Stereo::setNames() {
 
 void Stereo::setXinXout(std::shared_ptr<dai::Pipeline> pipeline) {
     bool outputDisparity = ph->getParam<bool>("i_output_disparity");
+    bool lowBandwidth = ph->getParam<bool>("i_low_bandwidth");
     std::function<void(dai::Node::Input)> stereoLinkChoice;
-    if(outputDisparity) {
+    if(outputDisparity || lowBandwidth) {
         stereoLinkChoice = [&](auto input) { stereoCamNode->disparity.link(input); };
     } else {
         stereoLinkChoice = [&](auto input) { stereoCamNode->depth.link(input); };
@@ -92,7 +93,7 @@ void Stereo::setXinXout(std::shared_ptr<dai::Pipeline> pipeline) {
         encConf.bitrate = ph->getParam<int>("i_low_bandwidth_bitrate");
         encConf.frameFreq = ph->getParam<int>("i_low_bandwidth_frame_freq");
         encConf.quality = ph->getParam<int>("i_low_bandwidth_quality");
-        encConf.enabled = ph->getParam<bool>("i_low_bandwidth");
+        encConf.enabled = lowBandwidth;
 
         stereoPub = setupOutput(pipeline, stereoQName, stereoLinkChoice, ph->getParam<bool>("i_synced"), encConf);
     }
@@ -155,7 +156,7 @@ 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";