Add ToF intensity output as topic

[dwffls]

Overview

Author: Daan Wijffels

Issue

Issue link (if present):
Issue description:
Related PRs

Changes

ROS distro: kilted
List of changes:

• Added the possibility to publish intensity images from the ToF sensor.
• When using an FFC-4P or FFC-3P do not overwrite the pipeline set in the parameters. In our usecase we want to only use a ToF sensor, however it was always falling back to RGB as it could only find a single camera.

Testing

Hardware used: OAK-FFC-4P with ToF Sensor
Depthai library version: 3

Visuals from testing

Add screenshots/gifs/videos from RVIZ or other visualizers demonstrating the effect of the changes when applicable.

[dwffls]

I do have one question I couldn't figure out on my own: The output of the intensity link in depthai returns a uint16 image. However the output with this merge request is a mono8 image, we thus lose a bunch of data.

I've searched up and down in the source code where this conversion happens, but couldn't find it. @Serafadam could you point me in the right direction?

[Serafadam]

Hi @dwffls, sorry for the delay, regarding output type I tested it and the frame returns RAW8 which corresponds to mono8 type, how did you obtain 16bit result?

[dwffls]

No problem about the delay. We're all busy.

I got a uint16 using a small python script to test the output of the ToF camera. This is using depthai v2 code. If you want I could share it, but it's just setting up the xlink for intensity en printing the dtype of the .getFrame() numpy array.

[Serafadam]

Sorry, I missed the message, @dwffls please share your script, I have been unable to verify this so far. In general, the true frame type can be obtained by running getType() method on DAI ImgFrame