start to port stereo_image_proc docs

stereo_image_proc/doc/changes.rst

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+Changelog Notes
+===============
+
+Jazzy Jalisco
+-------------
+There are several major change between ``Iron`` and ``Jazzy``:
+
+ * All components now properly support ``image_transport`` parameter.
+ * All components now properly support remapping the ``camera_info`` topic
+   for an associated ``image`` topic. For instance, if you remap ``image``
+   to ``my/image`` then ``my/camera_info`` will be used. Previously you
+   would have to manually remap the ``camera_info`` topic.

stereo_image_proc/doc/components.rst

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+Nodes and Components
+====================
+
+This package includes a number of ROS 2 components that can be assembled
+into stereo image processing pipelines.
+See the tutorial :ref:`Launch stereo_image_proc Components`.
+
+Alternatively, each component can be run as a standalone node.
+
+stereo_image_proc::DisparityNode
+--------------------------------
+Performs block matching on a pair of rectified stereo images, producing a
+disparity image. Also available as a standalone node with the name
+``disparity_node``.
+
+Subscribed Topics
+^^^^^^^^^^^^^^^^^
+ * **left/camera_info** (sensor_msgs/CameraInfo): Left camera metadata.
+ * **left/image_rect** (sensor_msgs/Image): Left monochrome rectified
+   image stream.
+ * **right/camera_info** (sensor_msgs/CameraInfo): Right camera metadata.
+ * **right/image_rect** (sensor_msgs/Image): Right monochrome rectified
+   image stream.
+
+Published Topics
+^^^^^^^^^^^^^^^^
+ * **disparity** (sensor_msgs/DisparityImage): Floating point disparity
+   image with metadata.
+
+Parameters
+^^^^^^^^^^
+
+*Disparity pre-filtering* 
+
+ * **prefilter_size** (int, default: 9): Normalization window size, pixels.
+ * **prefilter_cap** (int, default: 31): Bound on normalized pixel values.
+
+*Disparity correlation*
+
+ * **correlation_window_size** (int, default: 15): Edge size (pixels) of the
+   correlation window for matching. Values must be odd, in the range 5 to 255
+   (but with an extra performance hit for values larger than 21). Larger values
+   have smoother disparity results, but smear out small features and depth
+   discontinuities.
+ * **min_disparity** (int, default: 0): Minimum disparity, or the offset to the
+   disparity search window. By setting to a positive value, the cameras become
+   more "cross-eyed" and will find objects closer to the cameras. If the cameras
+   are "verged" (inclined toward each other), it may be appropriate to set
+   min_disparity to a negative value. When min_disparity is greater than 0,
+   objects at large distances will not be found.
+ * **disparity_range** (int, default: 64): The size of the disparity search
+   window (pixels). Together with min_disparity, this defines the "horopter,"
+   the 3D volume that is visible to the stereo algorithm.
+
+*Disparity post-filtering*
+
+ * **uniqueness_ratio** (double, default: 15.0): Filters disparity readings
+   based on a comparison to the next-best correlation along the epipolar
+   line. Matches where uniqueness_ratio > (best_match - next_match) / next_match
+   are filtered out.
+ * **texture_threshold** (int, default: 10): Filters disparity readings based on
+   the amount of texture in the correlation window.
+ * **speckle_size** (int, default: 100): Filters disparity regions that are less
+   than this number of pixels. For example, a value of 100 means that all regions
+   with fewer than 100 pixels will be rejected.
+ * **speckle_range** (int, default: 4): Groups disparity regions based on their
+   connectedness. Disparities are grouped together in the same region if they are
+   within this distance in pixels.
+
+*Synchronization*
+
+ * **approximate_sync** (bool, default: false): Whether to use approximate
+   synchronization. Set to true if the left and right cameras do not produce
+   exactly synced timestamps.
+ * **image_transport** (string, default: raw): Image transport to use for left
+   image subscriber.
+ * **queue size** (int, default: 5): Size of message queue for each synchronized
+   topic. You may need to raise this if images take significantly longer to travel
+   over the network than camera info and/or the delay from disparity processing
+   is too long.
+
+approximate_sync_tolerance_seconds
+
+
+stereo_image_proc::PointCloudNode
+---------------------------------
+Combines a rectified color image and disparity image to produce a
+``sensor_msgs::PointCloud2`` point cloud. Also available as a standalone
+node ``point_cloud_node``.
+
+Note: ROS 1 had both a ``point_cloud`` and ``point_cloud2`` version to
+handle the now deprecated and removed ``sensor_msgs::PointCloud`` and
+``stereo_msgs::PointCloud2``. This node corresponds to the ``point_cloud2``
+version although we have dropped the ``2``.
+
+Subscribed Topics
+^^^^^^^^^^^^^^^^^
+ * **disparity** (stereo_msgs/DisparityImage): Floating point disparity
+   image with metadata.
+ * **left/camera_info** (sensor_msgs/CameraInfo): Left camera metadata.
+ * **left/image_rect_color** (sensor_msgs/Image): Rectified image.
+ * **rigtht/camera_info** (sensor_msgs/CameraInfo): Right camera metada.
+
+Published Topics
+^^^^^^^^^^^^^^^^
+ * **points2** (sensor_msgs/PointCloud2): Stereo point cloud with RGB color.
+
+Parameters
+^^^^^^^^^^
+ * **approximate_sync** (bool, default: false): Whether to use approximate
+   synchronization. Set to true if the left and right cameras do not produce
+   exactly synced timestamps.
+ * **avoid_point_cloud_padding** (bool, default: false): Avoid using alignment
+   padding in the generated point cloud. This reduces bandwidth requirements,
+   as the point cloud size is halved. Using point clouds without alignment
+   padding might degrade performance for some algorithms.
+ * **image_transport** (string, default: raw): Image transport to use for left
+   image subscriber.
+ * **queue size** (int, default: 5): Size of message queue for each synchronized
+   topic. You may need to raise this if images take significantly longer to travel
+   over the network than camera info and/or the delay from disparity processing
+   is too long.
+ * **use_color** (oool, default: true): If false, point cloud will be XYZ only.

stereo_image_proc/doc/conf.py

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+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# -*- coding: utf-8 -*-
+#
+# Configuration file for the Sphinx documentation builder.
+#
+# This file does only contain a selection of the most common options. For a
+# full list see the documentation:
+# http://www.sphinx-doc.org/en/master/config
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+import os
+import sys
+sys.path.insert(0, os.path.abspath('.'))
+
+
+# -- Project information -----------------------------------------------------
+
+project = 'stereo_image_proc'
+copyright = '2008-2024, Open Source Robotics Foundation, Inc.'  # noqa
+author = 'Open Source Robotics Foundation, Inc.'
+
+# The short X.Y version
+version = ''
+# The full version, including alpha/beta/rc tags
+release = '3.2.1'
+
+
+# -- General configuration ---------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#
+# needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    'sphinx.ext.autodoc',
+    'sphinx.ext.autosummary',
+    'sphinx.ext.doctest',
+    'sphinx.ext.coverage',
+    'sphinx_rtd_theme',
+]
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# The suffix(es) of source filenames.
+# You can specify multiple suffix as a list of string:
+#
+# source_suffix = ['.rst', '.md']
+source_suffix = '.rst'
+
+# The master toctree document.
+master_doc = 'index'
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#
+# This is also used if you do content translation via gettext catalogs.
+# Usually you set "language" from the command line for these cases.
+language = None
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = []
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = None
+
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = 'sphinx_rtd_theme'
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further.  For a list of options available for each theme, see the
+# documentation.
+#
+# html_theme_options = {}
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = []
+
+# Custom sidebar templates, must be a dictionary that maps document names
+# to template names.
+#
+# The default sidebars (for documents that don't match any pattern) are
+# defined by theme itself.  Builtin themes are using these templates by
+# default: ``['localtoc.html', 'relations.html', 'sourcelink.html',
+# 'searchbox.html']``.
+#
+# html_sidebars = {}
+
+
+# -- Options for HTMLHelp output ---------------------------------------------
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = 'image_proc_doc'
+
+
+# -- Options for LaTeX output ------------------------------------------------
+
+latex_elements = {
+    # The paper size ('letterpaper' or 'a4paper').
+    #
+    # 'papersize': 'letterpaper',
+
+    # The font size ('10pt', '11pt' or '12pt').
+    #
+    # 'pointsize': '10pt',
+
+    # Additional stuff for the LaTeX preamble.
+    #
+    # 'preamble': '',
+
+    # Latex figure (float) alignment
+    #
+    # 'figure_align': 'htbp',
+}
+
+
+# -- Options for manual page output ------------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+man_pages = [
+    (master_doc, 'stereo_image_proc', 'stereo_image_proc Documentation',
+     [author], 1)
+]
+
+
+# -- Options for Texinfo output ----------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+#  dir menu entry, description, category)
+texinfo_documents = [
+    (master_doc, 'stereo_image_proc', 'stereo_image_proc Documentation',
+     author, 'stereo_image_proc', 'ROS 2 components for stereo image processing.',
+     'Miscellaneous'),
+]
+
+
+# -- Options for Epub output -------------------------------------------------
+
+# Bibliographic Dublin Core info.
+epub_title = project
+
+# The unique identifier of the text. This can be a ISBN number
+# or the project homepage.
+#
+# epub_identifier = ''
+
+# A unique identification for the text.
+#
+# epub_uid = ''
+
+# A list of files that should not be packed into the epub file.
+epub_exclude_files = ['search.html']
+
+
+# -- Extension configuration -------------------------------------------------
+
+autoclass_content = 'both'
+
+autodoc_default_options = {
+    'members': True,  # document members
+    'undoc-members': True,  # also document members without documentation
+}