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depth_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, or
+   ``depth_image_transport`` if the topic is a depth image.
+ * 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.
+ * The input of ``point_cloud_xyz_radial`` is renamed from ``image_raw``
+   to ``depth/image_raw`` for consistency.
+ * The input of ``point_cloud_xyzrgb_radial`` is renamed from
+   ``depth_registered/image_rect`` to ``depth/image_raw`` and
+   ``rgb/image_rect_color`` to ``rgb/image_raw``.

depth_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 depth image processing pipelines.
+See the tutorial :ref:`Launch depth_image_proc Components`.
+
+Alternatively, each component can be run as a standalone node.
+
+depth_image_proc::ConvertMetricNode
+-----------------------------------
+Component to convert raw uint16 depth image in mm to float depth image in m.
+Also available as a standalone node with the name ``convert_metric_node``.
+
+Subscribed Topics
+^^^^^^^^^^^^^^^^^
+ * **image_raw** (sensor_msgs/Image): ``uint16`` depth image in mm, the native
+   OpenNI format.
+
+Published Topics
+^^^^^^^^^^^^^^^^
+ * **image** (sensor_msgs/Image): ``float`` depth image in m, the recommended
+   format for processing in ROS.
+
+Parameters
+^^^^^^^^^^
+ * **image_transport** (string, default: raw): Image transport to use.
+
+depth_image_proc::CropForemostNode
+----------------------------------
+TODO
+
+depth_image_proc::DisparityNode
+-------------------------------
+Comoonent to convert depth image to disparity image.
+
+TODO: copy images in here
+
+Subscribed Topics
+^^^^^^^^^^^^^^^^^
+ * **left/image_rect** (sensor_msgs/Image): Rectified depth image.
+ * **right/camera_info** (sensor_msgs/CameraInfo): Camera calibration and
+   metadata. Must contain the baseline, which conventionally is encoded in
+   the right camera P matrix.
+
+Published Topics
+^^^^^^^^^^^^^^^^
+ * **left/disparity** (stereo_msgs/DisparityImage): Disparity image
+   (inversely related to depth), for interop with stereo processing nodes.
+   For all other purposes use depth images instead.
+
+Parameters
+^^^^^^^^^^
+ * **delta_d** (double, default: 0.125): Smallest allowed disparity increment,
+   which relates to the achievable depth range resolution. Defaults to 1/8 pixel.
+ * **image_transport** (string, default: raw): Image transport to use.
+ * **min_range** (double, default: 0.0): Minimum detectable distance.
+ * **max_range** (double, default: +Inf): Maximum detectable distance.
+ * **queue_size** (int, default: 5): Size of message queue for synchronizing
+   subscribed topics.
+
+depth_image_proc::PointCloudXyzNode
+-----------------------------------
+Component to convert depth image to XYZ point cloud.
+
+TODO: copy images
+
+Subscribed Topics
+^^^^^^^^^^^^^^^^^
+ * **depth/image_rect** (sensor_msgs/Image): Rectified depth image.
+ * **intensity/image_rect** (sensor_msgs/Image): Rectified intensity image.
+ * **camera_info** (sensor_msgs/CameraInfo): Camera calibration and metadata.
+
+Published Topics
+^^^^^^^^^^^^^^^^
+ * **points** (sensor_msgs/PointCloud2): XYZ point cloud. If using PCL,
+   subscribe as PointCloud<PointXYZ>.
+
+Parameters
+^^^^^^^^^^
+ * **depth_image_transport** (string, default: raw): Image transport to use
+   for the depth topic subscriber.
+ * **image_transport** (string, default: raw): Image transport to use for
+   the intensity image subscriber.
+ * **queue_size** (int, default: 5): Size of message queue for synchronizing
+   subscribed topics.
+
+depth_image_proc::PointCloudXyzRadialNode
+-----------------------------------------
+TODO
+
+depth_image_proc::PointCloudXyziNode
+------------------------------------
+Component to convert depth image to XYZI point cloud.
+
+Subscribed Topics
+^^^^^^^^^^^^^^^^^
+ * **image_rect** (sensor_msgs/Image): Rectified depth image.
+ * **camera_info** (sensor_msgs/CameraInfo): Camera calibration and metadata.
+
+Published Topics
+^^^^^^^^^^^^^^^^
+ * **points** (sensor_msgs/PointCloud2): XYZ point cloud. If using PCL,
+   subscribe as PointCloud<PointXYZI>.
+
+Parameters
+^^^^^^^^^^
+ * **depth_image_transport** (string, default: raw): Image transport to use.
+ * **queue_size** (int, default: 5): Size of message queue for synchronizing
+   subscribed topics.
+
+depth_image_proc::PointCloudXyziRadialNode
+------------------------------------------
+TODO  
+
+depth_image_proc::PointCloudXyzrgbNode
+--------------------------------------
+Component combine registered depth image and RGB image into XYZRGB point cloud.
+
+TODO: copy images
+
+Subscribed Topics
+^^^^^^^^^^^^^^^^^
+ * **depth_registered/image_rect** (sensor_msgs/Image): Rectified depth image,
+   registered to the RGB camera
+ * **rgb/image_rect_color** (sensor_msgs/Image): Rectified color image.
+ * **rgb/camera_info** (sensor_msgs/CameraInfo): RGB camera calibration and metadata.
+
+Published Topics
+^^^^^^^^^^^^^^^^
+ * **points** (sensor_msgs/PointCloud2): XYZ point cloud. If using PCL,
+   subscribe as PointCloud<PointXYZRGB>.
+
+Parameters
+^^^^^^^^^^
+ * **depth_image_transport** (string, default: raw): Image transport to use
+   for depth_registered subscriber.
+ * **image_transport** (string, default: raw): Image transport to use for
+   rgb/image_rect_color subscriber.
+ * **exact_sync** (bool, default: False): Whether to use exact synchronizer.
+ * **queue_size** (int, default: 5): Size of message queue for synchronizing
+   subscribed topics.
+
+depth_image_proc::PointCloudXyzrgbRadialNode
+--------------------------------------------
+TODO
+
+depth_image_proc::RegisterNode
+------------------------------
+Component to "register" a depth image to another camera frame. Reprojecting the
+depths requires the calibration parameters of both cameras and, from tf, and the
+extrinsic transform between them.
+
+Subscribed Topics
+^^^^^^^^^^^^^^^^^
+ * **depth/image_rect** (sensor_msgs/Image): Rectified depth image.
+ * **depth/camera_info** (sensor_msgs/CameraInfo): Depth camera calibration and metadata.
+ * **rgb/camera_info** (sensor_msgs/CameraInfo): RGB camera calibration and metadata.
+
+Published Topics
+^^^^^^^^^^^^^^^^
+ * **depth_registered/camera_info** (sensor_msgs/CameraInfo): Camera calibration and
+   metadata. Same as rgb/camera_info but time-synced to depth_registered/image_rect.
+ * **depth_registered/image_rect** (sensor_msgs/Image): Reprojected depth image in the
+   RGB camera frame.
+
+Parameters
+^^^^^^^^^^
+ * **depth_image_transport** (string, default: raw): Image transport to use
+   for depth subscriber.
+ * **queue_size** (int, default: 5): Size of message queue for synchronizing
+   subscribed topics.
+
+Required TF Transforms
+^^^^^^^^^^^^^^^^^^^^^^
+ * /depth_optical_frame → /rgb_optical_frame: The transform between the depth and
+   RGB camera optical frames as specified in the headers of the subscribed topics
+   (rendered here as /depth_optical_frame and /rgb_optical_frame).

depth_image_proc/doc/conf.py

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+# Copyright 2019 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 = 'depth_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 = 'depth_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, 'depth_image_proc', 'depth_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, 'depth_image_proc', 'depth_image_proc Documentation',
+     author, 'depth_image_proc', 'ROS 2 components for depth 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
+}