Add stereo publisher with compressed image and depth stream.

DFKI-NI · Mar 10, 2023 · e8fecfd · e8fecfd
1 parent 99e7c2d
commit e8fecfd
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Showing 13 changed files with 1,041 additions and 504 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
diff --git a/LICENSE b/LICENSE
diff --git a/README.md b/README.md
diff --git a/launch/rgb_publisher.launch b/launch/rgb_publisher.launch
diff --git a/launch/stereo_publisher.launch b/launch/stereo_publisher.launch
@@ -0,0 +1,50 @@
+<?xml version="1.0"?>
+<launch>
+    <!-- <args for urdf/> -->
+    <arg name="camera_model"          default="OAK-D"           /> <!-- 'zed' or 'zedm' -->
+    <arg name="tf_prefix"             default="oak"             />
+    <arg name="base_frame"            default="oak-d_frame"     />
+    <arg name="parent_frame"          default="oak-d-base-frame"/>
+
+    <arg name="cam_pos_x"             default="0.0"             /> <!-- Position respect to base frame (i.e. "base_link) -->
+    <arg name="cam_pos_y"             default="0.0"             /> <!-- Position respect to base frame (i.e. "base_link) -->
+    <arg name="cam_pos_z"             default="0.0"             /> <!-- Position respect to base frame (i.e. "base_link) -->
+    <arg name="cam_roll"              default="0.0"             /> <!-- Orientation respect to base frame (i.e. "base_link) -->
+    <arg name="cam_pitch"             default="0.0"             /> <!-- Orientation respect to base frame (i.e. "base_link) -->
+    <arg name="cam_yaw"               default="0.0"             /> <!-- Orientation respect to base frame (i.e. "base_link) -->
+
+    <arg name="camera_param_uri"      default="package://depthai_examples/params/camera" />
+
+    <include file="$(find depthai_bridge)/launch/urdf.launch">
+        <arg name="camera_model"    value="$(arg  camera_model)" />
+        <arg name="tf_prefix"       value="$(arg  tf_prefix)"  />
+        <arg name="base_frame"      value="$(arg  base_frame)"   />
+        <arg name="parent_frame"    value="$(arg  parent_frame)"/>
+        <arg name="cam_pos_x"       value="$(arg  cam_pos_x)"    />
+        <arg name="cam_pos_y"       value="$(arg  cam_pos_y)"    />
+        <arg name="cam_pos_z"       value="$(arg  cam_pos_z)"    />
+        <arg name="cam_roll"        value="$(arg  cam_roll)"     />
+        <arg name="cam_pitch"       value="$(arg  cam_pitch)"    />
+        <arg name="cam_yaw"         value="$(arg  cam_yaw)"      />
+    </include>
+
+
+    <!-- Recom: 4K@30FPS@90%MJPEG ~ 40MB/s; 4K@24FPS@90%MJPEG ~ 30MB/s; 4K@15FPS@95%MJPEG ~ 30MB/s; 4K@15FPS@90%MJPEG ~ 16MB/s; 1080p@30FPS@95%MJPEG ~ 11.5MB/s; 1080p@30FPS@95%MJPEG ~ 6MB/s; -->
+
+    <node name="oak_stereo_publisher" pkg="oak_driver" type="oak_stereo_node" output="screen" required="true">
+        <param name="tf_prefix"        value="$(arg tf_prefix)"/>
+        <param name="camera_param_uri" value="$(arg camera_param_uri)"/>
+        <param name="device_name"       value="" />
+        <param name="resolution"        value="720p" />
+        <param name="fps"               value="30" />
+        <param name="quality"           value="85" />
+        <param name="codec"             value="MJPEG" />
+        <param name="depth_aligned"     value="true" />
+        <param name="out_LR"     	value="false" />
+        <param name="rectify"     	value="true" />
+        <param name="manual_focus"      value="125" />
+        <param name="auto_white_balance_mode"      value="6" />
+    </node>            
+
+
+</launch>
diff --git a/package.xml b/package.xml
diff --git a/src/rgb_publisher.cpp b/src/rgb_publisher.cpp
diff --git a/src/stereo_publisher.cpp b/src/stereo_publisher.cpp
diff --git a/src/stereo_publisher_test.cpp b/src/stereo_publisher_test.cpp
diff --git a/utils/encoded_rgb_subscriber.py b/utils/encoded_rgb_subscriber.py
diff --git a/utils/flash_boot.py b/utils/flash_boot.py
diff --git a/utils/poe_set_ip.py b/utils/poe_set_ip.py
diff --git a/utils/test_video_encoding.py b/utils/test_video_encoding.py