feat: Add an option to use still output in RGB node - #783
Conversation
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@moratom friendly ping |
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@asahtik Is this branch still maintained? |
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Hi @bjsowa, this branch was merged with |
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Sorry, my bad. There's no plan to continue active development of v2 based packages, although I will still review PRs. Currently I have a bit of a backlog, but I'm planning on taking care of this and other PRs in early August. |
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Pull request overview
Adds optional support in the RGB (ColorCamera) node to publish the DepthAI still stream and trigger still captures via a ROS 2 service, extending the existing RGB/preview outputs with a higher-resolution still pathway.
Changes:
- Adds
i_enable_stillplusi_still_width/i_still_heightparameters and configuresColorCamera::setStillSize(). - Creates a new XLink output +
ImagePublisherfor the still stream and publishes it under a/still/image_rawsuffix. - Adds a
std_srvs/srv/Triggerservice to request still capture viaCameraControl.
Reviewed changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated 3 comments.
| File | Description |
|---|---|
| depthai_ros_driver/src/param_handlers/sensor_param_handler.cpp | Declares still-related parameters and configures setStillSize(). |
| depthai_ros_driver/src/dai_nodes/sensors/rgb.cpp | Adds still XLink output/publisher setup and a Trigger service to request still capture. |
| depthai_ros_driver/include/depthai_ros_driver/dai_nodes/sensors/rgb.hpp | Declares still publisher/service members and callback. |
| depthai_ros_driver/CMakeLists.txt | Adds std_srvs to sensor node dependencies for the new service. |
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| int stillWidth = declareAndLogParam<int>("i_still_width", width); | ||
| int stillHeight = declareAndLogParam<int>("i_still_height", height); | ||
| colorCam->setStillSize(stillWidth, stillHeight); |
| utils::ImgConverterConfig convConfig; | ||
| convConfig.tfPrefix = tfPrefix; | ||
| convConfig.getBaseDeviceTimestamp = ph->getParam<bool>("i_get_base_device_timestamp"); | ||
| convConfig.updateROSBaseTimeOnRosMsg = ph->getParam<bool>("i_update_ros_base_time_on_ros_msg"); | ||
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| pubConfig.width = ph->getParam<int>("i_still_width"); | ||
| pubConfig.height = ph->getParam<int>("i_still_height"); | ||
| pubConfig.maxQSize = ph->getParam<int>("i_max_q_size"); | ||
| pubConfig.topicSuffix = "/still/image_raw"; | ||
| pubConfig.flipImage = ph->getParam<bool>("i_flip_published_image"); |
Overview
Author: Błażej Sowa
Adds optional support for publishing the ColorCamera “still” output from the RGB node
Changes
ROS distro: jazzy
List of changes:
i_enable_stillplusi_still_width/i_still_heightparameters for the ColorCamera node.std_srvs/srv/Triggerservice to request a still capture viaCameraControl.Testing
Hardware used: Oak-1-MAX, Oak-1-Lite-W, Oak-D-Pro-W
Depthai library version: 2.31.1