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feat: Add an option to use still output in RGB node #783

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1b78691
feat: Add an option to use still output in RGB node
bjsowa Apr 20, 2026
4ce950e
Initialize controlQ before creating the service
bjsowa Apr 20, 2026
83ca622
Add response message
bjsowa Apr 20, 2026
15fb9e8
Don't redeclare i_enable_still
bjsowa Apr 20, 2026
cae627b
Fix naming convention
bjsowa Apr 20, 2026
6229dcf
Apply exposure offset to still output
bjsowa Aug 14, 2026
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1 change: 1 addition & 0 deletions depthai_ros_driver/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,7 @@ depthai
depthai_bridge
rclcpp
std_msgs
std_srvs
sensor_msgs
image_transport)

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9 changes: 7 additions & 2 deletions depthai_ros_driver/include/depthai_ros_driver/dai_nodes/sensors/rgb.hpp
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Original file line number Diff line number Diff line change
@@ -1,6 +1,8 @@
#pragma once

#include "depthai_ros_driver/dai_nodes/base_node.hpp"
#include "rclcpp/service.hpp"
#include "std_srvs/srv/trigger.hpp"

namespace dai {
class Pipeline;
Expand Down Expand Up @@ -48,12 +50,15 @@ class RGB : public BaseNode {
std::vector<std::shared_ptr<sensor_helpers::ImagePublisher>> getPublishers() override;

private:
std::shared_ptr<sensor_helpers::ImagePublisher> rgbPub, previewPub;
void triggerStillCB(std_srvs::srv::Trigger::Request::ConstSharedPtr req, std_srvs::srv::Trigger::Response::SharedPtr res);

std::shared_ptr<sensor_helpers::ImagePublisher> rgbPub, previewPub, stillPub;
rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr triggerStillService;
std::shared_ptr<dai::node::ColorCamera> colorCamNode;
std::unique_ptr<param_handlers::SensorParamHandler> ph;
std::shared_ptr<dai::DataInputQueue> controlQ;
std::shared_ptr<dai::node::XLinkIn> xinControl;
std::string ispQName, previewQName, controlQName;
std::string ispQName, previewQName, controlQName, stillQName;
};

} // namespace dai_nodes
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41 changes: 41 additions & 0 deletions depthai_ros_driver/src/dai_nodes/sensors/rgb.cpp
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Expand Up @@ -35,6 +35,7 @@ void RGB::setNames() {
ispQName = getName() + "_isp";
previewQName = getName() + "_preview";
controlQName = getName() + "_control";
stillQName = getName() + "_still";
}

void RGB::setXinXout(std::shared_ptr<dai::Pipeline> pipeline) {
Expand All @@ -59,6 +60,9 @@ void RGB::setXinXout(std::shared_ptr<dai::Pipeline> pipeline) {
if(ph->getParam<bool>("i_enable_preview")) {
previewPub = setupOutput(pipeline, previewQName, [&](auto input) { colorCamNode->preview.link(input); });
}
if(ph->getParam<bool>("i_enable_still")) {
stillPub = setupOutput(pipeline, stillQName, [&](auto input) { colorCamNode->still.link(input); });
}
xinControl = pipeline->create<dai::node::XLinkIn>();
xinControl->setStreamName(controlQName);
xinControl->out.link(colorCamNode->inputControl);
Expand Down Expand Up @@ -119,6 +123,31 @@ void RGB::setupQueues(std::shared_ptr<dai::Device> device) {
previewPub->setup(device, convConfig, pubConfig);
};
controlQ = device->getInputQueue(controlQName);
if(ph->getParam<bool>("i_enable_still")) {
auto tfPrefix = getOpticalTFPrefix(getSocketName(static_cast<dai::CameraBoardSocket>(ph->getParam<int>("i_board_socket_id"))));
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");

Comment on lines +128 to +134

@bjsowa bjsowa Aug 14, 2026

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The encoding option has only effect when i_low_bandwidth is enabled which I purposefully omitted for still output. For raw frames, Image converter always outputs it in BGR color order.

utils::ImgPublisherConfig pubConfig;
pubConfig.daiNodeName = getName();
pubConfig.topicName = "~/" + getName();
pubConfig.lazyPub = ph->getParam<bool>("i_enable_lazy_publisher");
pubConfig.socket = static_cast<dai::CameraBoardSocket>(ph->getParam<int>("i_board_socket_id"));
pubConfig.calibrationFile = ph->getParam<std::string>("i_calibration_file");
pubConfig.rectified = false;
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");
Comment on lines +142 to +146

@bjsowa bjsowa Aug 14, 2026

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I'm not sure about that. Adding this option would make it so that enabling compression for video output would also enable lossy compression for still output which is often not wanted.


stillPub->setup(device, convConfig, pubConfig);

triggerStillService = getROSNode()->create_service<std_srvs::srv::Trigger>(
"~/" + getName() + "/trigger_still", std::bind(&RGB::triggerStillCB, this, std::placeholders::_1, std::placeholders::_2));
};
}

void RGB::closeQueues() {
Expand All @@ -128,6 +157,10 @@ void RGB::closeQueues() {
previewPub->closeQueue();
}
}
if(ph->getParam<bool>("i_enable_still")) {
triggerStillService.reset();
stillPub->closeQueue();
}
controlQ->close();
}

Expand Down Expand Up @@ -156,5 +189,13 @@ void RGB::updateParams(const std::vector<rclcpp::Parameter>& params) {
controlQ->send(ctrl);
}

void RGB::triggerStillCB(std_srvs::srv::Trigger::Request::ConstSharedPtr /*req*/, std_srvs::srv::Trigger::Response::SharedPtr res) {
dai::CameraControl ctrl;
ctrl.setCaptureStill(true);
controlQ->send(ctrl);
res->success = true;
res->message = "Still capture request sent";
}

} // namespace dai_nodes
} // namespace depthai_ros_driver
4 changes: 4 additions & 0 deletions depthai_ros_driver/src/param_handlers/sensor_param_handler.cpp
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Expand Up @@ -125,6 +125,7 @@ void SensorParamHandler::declareParams(std::shared_ptr<dai::node::ColorCamera> c
colorCam->setBoardSocket(socketID);
declareAndLogParam<bool>("i_output_isp", true);
declareAndLogParam<bool>("i_enable_preview", false);
declareAndLogParam<bool>("i_enable_still", false);
declareAndLogParam<bool>("i_flip_published_image", false);
colorCam->setFps(declareAndLogParam<double>("i_fps", 30.0));
int preview_size = declareAndLogParam<int>("i_preview_size", 300);
Expand Down Expand Up @@ -175,6 +176,9 @@ void SensorParamHandler::declareParams(std::shared_ptr<dai::node::ColorCamera> c
RCLCPP_ERROR(getROSNode()->get_logger(), "%s", err_stream.str().c_str());
}
}
int stillWidth = declareAndLogParam<int>("i_still_width", width);
int stillHeight = declareAndLogParam<int>("i_still_height", height);
colorCam->setStillSize(stillWidth, stillHeight);
Comment on lines +179 to +181

@asahtik asahtik Aug 13, 2026

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Agreed, still should use the sensor size by default

@bjsowa bjsowa Aug 14, 2026

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Still resolution cannot be larger than isp output resolution (which is held in width and height variables at this point in code). Running the driver with default parameters out with this modification results in:

what():  ColorCamera(0) - 'still' width or height (1920, 1080) bigger than maximum at current sensor resolution (1280, 720)

int maxVideoWidth = 3840;
int maxVideoHeight = 2160;
int videoWidth = declareAndLogParam<int>("i_width", width);
Expand Down