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Add color order - Noetic (#691)
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‎depthai-ros/CHANGELOG.rst

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package depthai-ros
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.11.1 (2025-03-12)
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-------------------
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* Add color order parameter for color sensors
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* (ROS2) Fix low bandwidth issue
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* (ROS1) Joint state remapping fix
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2.11.0 (2025-02-19)
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-------------------
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* Add Thermal support
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2.9.0 (2024-01-24)
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-------------------
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* New documentation homepage
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* Updated support for LR and SR cameras
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* Added parameter to toggle restart on logging error
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* Added option to run Spatial NN as part of stereo node
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2.8.2 (2023-10-17)
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-------------------
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------------------
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* Fixed default resolution for Stereo cameras
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* Added CameraInfo update based on alpha scaling
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* Logger restart bugfix
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* URDF parameters fix
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2.8.1 (2023-09-12)
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-------------------
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------------------
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* Added support for OpenCV Stereo order convention
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* Added disparity to depth use spec translation parameter
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* Updated sensor socket logic
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* Fixed issues when running robot_state_publisher as component
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* Added missing tf2 dependencies
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2.8.0 (2023-09-01)
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-------------------
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------------------
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* Add camera image orientation param
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* Performance update
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* Feature tracker
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* Add exposure offset
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2.7.5 (2023-08-07)
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-------------------
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------------------
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* IMU sync fix
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2.7.4 (2023-06-26)
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-------------------
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------------------
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* ROS time update
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* Minor bugfixes
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2.7.3 (2023-06-16)
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-------------------
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------------------
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* Pipeline generation as a plugin
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* Fixed bounding box generation issue
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* Stereo rectified streams publishing
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* Camera trigger mechanisms
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* Brightness filter
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2.7.2 (2023-05-08)
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-------------------
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------------------
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* IMU improvements
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2.7.1 (2023-03-29)
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-------------------
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------------------
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* Add custom output size option for streams
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2.7.0 (2023-03-28)
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-------------------
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------------------
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* Added depthai_descriptions package
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* Added depthai_filters package
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* XLinkIn option for image subscription
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* Additional debugging options
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* Bugfixes
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2.6.4 (2023-02-23)
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-------------------
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------------------
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* Fix sensor name detection
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* Enable subpixel mode
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* Update camera start/stop services
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2.6.3 (2023-02-10)
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-------------------
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------------------
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* Camera calibration updates
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* Option to connect to the device via USB port id
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2.6.2 (2023-02-01)
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-------------------
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------------------
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* Fixed timestamp in SpatialDetector
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* Updated topic names in stereo_inertial_node
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2.6.1 (2023-01-11)
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-------------------
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------------------
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* Update docker image building
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2.6.0 (2023-01-11)
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-------------------
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------------------
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* Added depthai_ros_driver package
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2.5.3 (2022-08-21)
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-------------------
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------------------
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* Updated release version
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* Contributors: Sachin
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* Fixed bugs for Noetic
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2.5.1 (2022-05-20)
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-------------------
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* Fix Build farm issues
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2.5.0 (2022-05-20)
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-------------------
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* Release 2.5.0
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* add ament package:
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* created Bridge and Coverters to handle images, IMU and camera Info

‎depthai-ros/package.xml

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<?xml version="1.0"?>
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<package format="3">
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<name>depthai-ros</name>
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<version>2.11.0</version>
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<version>2.11.1</version>
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<description>The depthai-ros package</description>
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<maintainer email="[email protected]">Adam Serafin</maintainer>

‎depthai_bridge/CMakeLists.txt

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cmake_minimum_required (VERSION 3.10.2) # CMake version in Ubuntu 18.04 LTS
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set (CMAKE_POSITION_INDEPENDENT_CODE ON)
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4-
project(depthai_bridge VERSION 2.11.0 LANGUAGES CXX C)
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project(depthai_bridge VERSION 2.11.1 LANGUAGES CXX C)
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)

‎depthai_bridge/package.xml

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<?xml version="1.0"?>
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<package format="3">
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<name>depthai_bridge</name>
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<version>2.11.0</version>
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<version>2.11.1</version>
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<description>The depthai_bridge package</description>
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<maintainer email="[email protected]">Adam Serafin</maintainer>

‎depthai_bridge/src/ImageConverter.cpp

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@@ -100,6 +100,12 @@ ImageMsgs::Image ImageConverter::toRosMsgRawPtr(std::shared_ptr<dai::ImgFrame> i
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channels = CV_8UC3;
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break;
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}
103+
case dai::RawImgFrame::Type::RGB888i: {
104+
encoding = sensor_msgs::image_encodings::RGB8;
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decodeFlags = cv::IMREAD_COLOR;
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channels = CV_8UC3;
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break;
108+
}
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case dai::RawImgFrame::Type::GRAY8: {
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encoding = sensor_msgs::image_encodings::MONO8;
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decodeFlags = cv::IMREAD_GRAYSCALE;

‎depthai_descriptions/CMakeLists.txt

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cmake_minimum_required(VERSION 3.10.2)
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project(depthai_descriptions VERSION 2.11.0 LANGUAGES CXX C)
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project(depthai_descriptions VERSION 2.11.1 LANGUAGES CXX C)
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find_package(catkin REQUIRED

‎depthai_descriptions/launch/urdf.launch

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<node name="$(arg tf_prefix)_state_publisher" pkg="robot_state_publisher"
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type="robot_state_publisher" output="screen" required="true">
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<remap from="robot_description" to="$(arg tf_prefix)/robot_description" />
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<remap from="joint_states" to="$(arg tf_prefix)/joint_states"/>
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</node>
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</launch>

‎depthai_descriptions/package.xml

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<?xml version="1.0"?>
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<package format="2">
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<name>depthai_descriptions</name>
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<version>2.11.0</version>
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<version>2.11.1</version>
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<description>The depthai_descriptions package</description>
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<maintainer email="[email protected]">Adam Serafin</maintainer>

‎depthai_examples/CMakeLists.txt

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cmake_minimum_required (VERSION 3.10.2) # CMake version in Ubuntu 18.04 LTS
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project(depthai_examples VERSION 2.11.0 LANGUAGES CXX C)
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project(depthai_examples VERSION 2.11.1 LANGUAGES CXX C)
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)

‎depthai_examples/package.xml

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<?xml version="1.0"?>
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<package format="3">
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<name>depthai_examples</name>
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<version>2.11.0</version>
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<version>2.11.1</version>
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<description>The depthai_examples package</description>
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<maintainer email="[email protected]">Adam Serafin</maintainer>

‎depthai_filters/CMakeLists.txt

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cmake_minimum_required(VERSION 3.10.2)
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project(depthai_filters VERSION 2.11.0 LANGUAGES CXX C)
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project(depthai_filters VERSION 2.11.1 LANGUAGES CXX C)
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)

‎depthai_filters/package.xml

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<?xml version="1.0"?>
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<package format="2">
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<name>depthai_filters</name>
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<version>2.11.0</version>
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<version>2.11.1</version>
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<description>The depthai_filters package</description>
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<maintainer email="[email protected]">Adam Serafin</maintainer>

‎depthai_ros_driver/CMakeLists.txt

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cmake_minimum_required(VERSION 3.16.3)
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project(depthai_ros_driver VERSION 2.11.0)
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project(depthai_ros_driver VERSION 2.11.1)
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()

‎depthai_ros_driver/include/depthai_ros_driver/dai_nodes/sensors/sensor_helpers.hpp

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@@ -53,6 +53,7 @@ extern const std::unordered_map<std::string, dai::MonoCameraProperties::SensorRe
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extern const std::unordered_map<std::string, dai::ColorCameraProperties::SensorResolution> rgbResolutionMap;
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extern const std::unordered_map<std::string, dai::CameraControl::FrameSyncMode> fSyncModeMap;
5555
extern const std::unordered_map<std::string, dai::CameraImageOrientation> cameraImageOrientationMap;
56+
extern const std::unordered_map<std::string, dai::ColorCameraProperties::ColorOrder> colorOrderMap;
5657
bool rsCompabilityMode(ros::NodeHandle node);
5758
std::string tfPrefix(ros::NodeHandle node);
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std::string getSocketName(ros::NodeHandle node, dai::CameraBoardSocket socket);

‎depthai_ros_driver/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
44
<name>depthai_ros_driver</name>
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<version>2.11.0</version>
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<version>2.11.1</version>
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<description>Depthai ROS Monolithic node.</description>
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<maintainer email="[email protected]">Adam Serafin</maintainer>
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<author>Adam Serafin</author>

‎depthai_ros_driver/src/dai_nodes/sensors/rgb.cpp

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convConfig.getBaseDeviceTimestamp = ph->getParam<bool>("i_get_base_device_timestamp");
7272
convConfig.updateROSBaseTimeOnRosMsg = ph->getParam<bool>("i_update_ros_base_time_on_ros_msg");
7373
convConfig.lowBandwidth = ph->getParam<bool>("i_low_bandwidth");
74-
convConfig.encoding = dai::RawImgFrame::Type::BGR888i;
74+
if(ph->getParam<std::string>("i_color_order") == "BGR") {
75+
convConfig.encoding = dai::RawImgFrame::Type::BGR888i;
76+
} else {
77+
convConfig.encoding = dai::RawImgFrame::Type::RGB888i;
78+
}
7579
convConfig.addExposureOffset = ph->getParam<bool>("i_add_exposure_offset");
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convConfig.expOffset = static_cast<dai::CameraExposureOffset>(ph->getParam<int>("i_exposure_offset"));
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convConfig.reverseSocketOrder = ph->getParam<bool>("i_reverse_stereo_socket_order");

‎depthai_ros_driver/src/dai_nodes/sensors/sensor_helpers.cpp

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9393
{NodeNameEnum::NN, "nn"},
9494
};
9595

96+
const std::unordered_map<std::string, dai::ColorCameraProperties::ColorOrder> colorOrderMap = {{"BGR", dai::ColorCameraProperties::ColorOrder::BGR},
97+
{"RGB", dai::ColorCameraProperties::ColorOrder::RGB}};
98+
9699
bool rsCompabilityMode(ros::NodeHandle node) {
97100
bool compat = false;
98101
node.getParam("camera_i_rs_compat", compat);

‎depthai_ros_driver/src/param_handlers/sensor_param_handler.cpp

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129129
int height = colorCam->getResolutionHeight();
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131131
colorCam->setInterleaved(declareAndLogParam<bool>("i_interleaved", false));
132+
colorCam->setColorOrder(utils::getValFromMap(declareAndLogParam<std::string>("i_color_order", "BGR"), dai_nodes::sensor_helpers::colorOrderMap));
132133

133134
bool setIspScale = true;
134135
if(sensor.defaultResolution != "1080P"

‎depthai_ros_msgs/CMakeLists.txt

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cmake_minimum_required (VERSION 3.10.2) # CMake version in Ubuntu 18.04 LTS
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project (depthai_ros_msgs VERSION 2.11.0)
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project (depthai_ros_msgs VERSION 2.11.1)
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if(POLICY CMP0057)
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cmake_policy(SET CMP0057 NEW)

‎depthai_ros_msgs/package.xml

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<?xml version="1.0"?>
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<package format="3">
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<name>depthai_ros_msgs</name>
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<version>2.11.0</version>
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<version>2.11.1</version>
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<description>Package to keep interface independent of the driver</description>
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<maintainer email="[email protected]">Adam Serafin</maintainer>

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