Adding stereo post processing and Exposure settings to stereo inertial node by daxoft · Pull Request #24 · luxonis/depthai-ros-examples

daxoft · 2022-03-04T17:29:52Z

Add optional parameters to all ROS1 nodes
Add post-processing and exposure settings
Add and apply clang-format

saching13

Amazing PR. Love all the changes and common functions.
LMK when you address the comments.

And also there has been some changes in the previous update which might break some stuff. So need to update this accordingly. the main difference is that dequeu<msgs> is used in the converter which needed change in the way some converters are initialized. Changes are done such a way that API on the external side shouldn't be affected unless overlading binding function is used.

saching13 · 2022-03-15T16:13:38Z

+void ExposureSettings::setExposure(dai::Device& device) {
+    auto controlQueue = device.getInputQueue("control");
+    auto configQueue = device.getInputQueue("config");
+    dai::CameraControl ctrl;
+    if(auto_exposure) {
+        ctrl.setAutoExposureEnable();
+    } else {
+        ctrl.setManualExposure(exposure_time_us, sensitivity_iso);
+        if(exposure_region.at(2) != 0 || exposure_region.at(3) != 0) {
+            dai::ImageManipConfig cfg;
+            cfg.setCropRect(exposure_region.at(0), exposure_region.at(1), exposure_region.at(2), exposure_region.at(3));
+            configQueue->send(cfg);
+        }
+    }
+    controlQueue->send(ctrl);
+}


https://docs.luxonis.com/en/latest/pages/faq/?highlight=Exposure%20setting#white-balance-awb

Can you add AF, AE to the same ?

Can we add this also in such a way that it can be changed live using dynamic reconfigure and using services?

That would be a great addition to some of the users who wants to test with different settings and stop at one which works best for them.

saching13 · 2022-03-15T16:33:40Z

+    void setMedianFilter(std::shared_ptr<dai::node::StereoDepth> stereo);
+
+    void setFilters(std::shared_ptr<dai::node::StereoDepth> stereo);
+


This looks good for the init time settings.
But to modify these at the run time create a function to share the pointer of the device to this class using setDevice for example after the device is initialized. And when setDecimationFilter(...) is called from a service or dynamic reconfigure it modifes it.

Thoughts ?

Same applies for Exposure setting.

saching13 · 2022-03-28T16:42:57Z

+    common_src/DepthPostProcessing.cpp
+    common_src/CameraControl.cpp)


Move the common libraries to depthai-ros

saching13 · 2022-03-28T17:06:13Z

        std::string tfSuffix = depth_aligned ? "_rgb_camera_optical_frame" : "_right_camera_optical_frame";
-        dai::rosBridge::DisparityConverter dispConverter(tfPrefix + tfSuffix , 880, 7.5, 20, 2000); // TODO(sachin): undo hardcoding of baseline
-        auto disparityCameraInfo = depth_aligned ? rgbConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::RGB, 1280, 720) : rightCameraInfo;
+        dai::rosBridge::DisparityConverter dispConverter(tfPrefix + tfSuffix, 880, 7.5, 20, 2000);  // TODO(sachin): undo hardcoding of baseline


Can you change this and use these from calibration data.

saching13 · 2022-03-28T17:12:31Z

+        config.postProcessing.speckleFilter.enable = this->speckle_enable;
+        config.postProcessing.speckleFilter.speckleRange = static_cast<std::uint32_t>(this->speckle_range);


Create separate functions for each type with arguments. And if it is enabled call them.

And create services on top of them for each of these settings.
And maybe use dynamic reconfigure for it?
http://wiki.ros.org/dynamic_reconfigure/Tutorials/SettingUpDynamicReconfigureForANode%28cpp%29

https://gist.github.com/szabi-luxonis/5f20474583ec3498b8360f6fca014d4e

Example for changing these realtime. Than initial config.

saching13 · 2022-03-31T03:52:22Z

+    rgb.time_us = clamp(req_get(exposure_time_us), 1, 33000);
+    rgb.sensitivity_iso = clamp(req_get(exposure_time_us), 1, 33000);


@alex-luxonis Is this the same for all modules or can we fetch this from device and set the limits based on the CCM ?

I'll investigate

daxoft added 8 commits February 22, 2022 23:39

ros1 default parameters

4cfedf0

common library

859da35

Merge branch 'main' into optional-parameters

b08f989

add ros2 post processing

9a8679b

cast parameters

6336698

add common postProcessing

062efb7

post processing class

4f5f3ed

add exposure settings

368a324

daxoft requested a review from saching13 March 4, 2022 17:30

add style test

cb44fe1

daxoft force-pushed the daxoft/optional-parameters branch from 03c2d36 to 82e910f Compare March 4, 2022 17:47

apply clang and add missing files

98e46d5

daxoft force-pushed the daxoft/optional-parameters branch from 82e910f to 98e46d5 Compare March 4, 2022 17:50

saching13 changed the base branch from main to devel March 15, 2022 16:10

saching13 suggested changes Mar 15, 2022

View reviewed changes

daxoft added 12 commits March 17, 2022 18:50

add focus settings

a87b8f6

review changes v1

c27850c

add setExposure and setFocus servers

9474248

enable exposure srv

68992c9

simplify ROS2 binding

eef3c32

UNSTABLE ros1 service

92c1d36

add ros1 focus and exposure req

d7f42f0

merge Focus class into CameraControl

265e088

replace lambda f with bind

d8e7804

fix config and control streams

0edf5ad

add stereo exposure settings

5f56ef9

fix ros1

278ef0d

daxoft force-pushed the daxoft/optional-parameters branch from 72eeb8f to 278ef0d Compare March 28, 2022 16:23

saching13 changed the title ~~Daxoft/optional parameters~~ Adding stereo post processing and Exposure settings to stereo inertial node Mar 28, 2022

saching13 suggested changes Mar 28, 2022

View reviewed changes

daxoft added 3 commits March 28, 2022 21:22

Merge branch 'main' into daxoft/optional-parameters

e8b65c9

move srv to ros-msgs and merge main

1122aa5

add iso and exposure boundries

e250e41

saching13 reviewed Mar 31, 2022

View reviewed changes

daxoft added 2 commits April 1, 2022 17:35

move class parameters declarations

d13d450

add white balance

e8cf706

daxoft force-pushed the daxoft/optional-parameters branch from a0f22d3 to e8cf706 Compare April 1, 2022 15:30

daxoft and others added 5 commits April 19, 2022 16:57

Merge branch 'main' into daxoft/optional-parameters

7358626

enable postProcessing dynamic config

c193183

postProcessing request

eb64240

remove common libraries and files

fd2499e

updating stereo example WIP

d334fc7

Base automatically changed from devel to main May 20, 2022 04:13

		void setMedianFilter(std::shared_ptr<dai::node::StereoDepth> stereo);

		void setFilters(std::shared_ptr<dai::node::StereoDepth> stereo);

		common_src/DepthPostProcessing.cpp
		common_src/CameraControl.cpp)

		config.postProcessing.speckleFilter.enable = this->speckle_enable;
		config.postProcessing.speckleFilter.speckleRange = static_cast<std::uint32_t>(this->speckle_range);

		rgb.time_us = clamp(req_get(exposure_time_us), 1, 33000);
		rgb.sensitivity_iso = clamp(req_get(exposure_time_us), 1, 33000);

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daxoft commented Mar 4, 2022 •

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