From 5fa80e1be19f5a1aad0ce8dd2b9d668cf77185e2 Mon Sep 17 00:00:00 2001 From: rafal-gorecki Date: Tue, 16 Apr 2024 16:48:53 +0200 Subject: [PATCH] Add oak-d-lite --- demo/oak-d-lite/compose.yaml | 21 +++++ demo/oak-d-lite/default.rviz | 167 ++++++++++++++++++++++++++++++++++ demo/oak-d-lite/rgbd-pcl.yaml | 131 ++++++++++++++++++++++++++ 3 files changed, 319 insertions(+) create mode 100644 demo/oak-d-lite/compose.yaml create mode 100644 demo/oak-d-lite/default.rviz create mode 100644 demo/oak-d-lite/rgbd-pcl.yaml diff --git a/demo/oak-d-lite/compose.yaml b/demo/oak-d-lite/compose.yaml new file mode 100644 index 0000000..c585573 --- /dev/null +++ b/demo/oak-d-lite/compose.yaml @@ -0,0 +1,21 @@ +services: + luxonis: + image: husarion/depthai:humble-2.8.1 + volumes: + - /dev/bus/usb:/dev/bus/usb + - ./rgbd-pcl.yaml:/rgbd-pcl.yaml + device_cgroup_rules: + - 'c 189:* rmw' + command: > + ros2 launch depthai_ros_driver rgbd_pcl.launch.py + camera_model:=OAK-D-LITE + params_file:=/rgbd-pcl.yaml + + rviz: + image: husarion/rviz2:humble-11.2.6 + volumes: + - /tmp/.X11-unix:/tmp/.X11-unix:rw + - ./default.rviz:/root/.rviz2/default.rviz + environment: + - DISPLAY=${DISPLAY:?err} + - LIBGL_ALWAYS_SOFTWARE=1 diff --git a/demo/oak-d-lite/default.rviz b/demo/oak-d-lite/default.rviz new file mode 100644 index 0000000..31e481c --- /dev/null +++ b/demo/oak-d-lite/default.rviz @@ -0,0 +1,167 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Image RGB1 + - /Image RGB1/Topic1 + - /Image Depth1 + - /Image Depth1/Topic1 + Splitter Ratio: 0.5 + Tree Height: 167 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image RGB + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /oak/rgb/image_raw + Value: true + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 5000 + Median window: 5 + Min Value: 0 + Name: Image Depth + Normalize Range: false + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /oak/stereo/image_raw + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: oak-d-base-frame + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.785398006439209 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.785398006439209 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 800 + Hide Left Dock: false + Hide Right Dock: false + Image Depth: + collapsed: false + Image RGB: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1466 + X: 70 + Y: 27 diff --git a/demo/oak-d-lite/rgbd-pcl.yaml b/demo/oak-d-lite/rgbd-pcl.yaml new file mode 100644 index 0000000..626fdb6 --- /dev/null +++ b/demo/oak-d-lite/rgbd-pcl.yaml @@ -0,0 +1,131 @@ +/oak: + ros__parameters: + camera: + i_calibration_dump: false + i_enable_imu: false + i_enable_ir: true + i_external_calibration_path: '' + i_floodlight_brightness: 0 + i_ip: '' + i_laser_dot_brightness: 800 + i_mx_id: '' + i_pipeline_dump: false + i_pipeline_type: RGBD + i_publish_tf_from_calibration: false + i_restart_on_diagnostics_error: false + i_tf_base_frame: oak + i_tf_cam_pitch: '0.0' + i_tf_cam_pos_x: '0.0' + i_tf_cam_pos_y: '0.0' + i_tf_cam_pos_z: '0.0' + i_tf_cam_roll: '0.0' + i_tf_cam_yaw: '0.0' + i_tf_camera_model: '' + i_tf_camera_name: oak + i_tf_custom_urdf_location: '' + i_tf_custom_xacro_args: '' + i_tf_imu_from_descr: 'false' + i_tf_parent_frame: oak-d-base-frame + i_usb_port_id: '' + i_usb_speed: SUPER_PLUS + diagnostic_updater: + period: 1.0 + rgb: + i_add_exposure_offset: false + i_board_socket_id: 0 + i_calibration_file: '' + i_disable_node: false + i_enable_feature_tracker: false + i_enable_lazy_publisher: true + i_enable_nn: false + i_enable_preview: false + i_exposure_offset: 0 + i_fps: 30.0 + i_fsync_continuous: false + i_fsync_trigger: false + i_get_base_device_timestamp: false + i_height: 720 + i_interleaved: false + i_isp_den: 3 + i_isp_num: 2 + i_keep_preview_aspect_ratio: true + i_low_bandwidth: false + i_low_bandwidth_quality: 50 + i_max_q_size: 30 + i_output_isp: true + i_preview_height: 300 + i_preview_size: 300 + i_preview_width: 300 + i_publish_topic: true + i_resolution: 1080P + i_reverse_stereo_socket_order: false + i_sensor_img_orientation: AUTO + i_set_isp3a_fps: false + i_set_isp_scale: true + i_simulate_from_topic: false + i_simulated_topic_name: '' + i_update_ros_base_time_on_ros_msg: false + i_width: 1280 + r_exposure: 20000 + r_focus: 1 + r_iso: 800 + r_set_man_exposure: false + r_set_man_focus: false + r_set_man_whitebalance: false + r_whitebalance: 3300 + stereo: + i_add_exposure_offset: false + i_align_depth: true + i_bilateral_sigma: 0 + i_board_socket_id: 0 + i_depth_filter_size: 5 + i_depth_preset: HIGH_ACCURACY + i_disparity_width: DISPARITY_96 + i_enable_alpha_scaling: false + i_enable_brightness_filter: false + i_enable_companding: false + i_enable_decimation_filter: false + i_enable_disparity_shift: false + i_enable_distortion_correction: false + i_enable_lazy_publisher: true + i_enable_spatial_filter: false + i_enable_spatial_nn: false + i_enable_speckle_filter: false + i_enable_temporal_filter: false + i_enable_threshold_filter: false + i_exposure_offset: 0 + i_extended_disp: false + i_get_base_device_timestamp: false + i_height: 720 + i_left_rect_add_exposure_offset: false + i_left_rect_enable_feature_tracker: false + i_left_rect_exposure_offset: 0 + i_left_rect_low_bandwidth: false + i_left_rect_low_bandwidth_quality: 50 + i_left_socket_id: 1 + i_low_bandwidth: false + i_low_bandwidth_quality: 50 + i_lr_check: true + i_lrc_threshold: 10 + i_max_q_size: 30 + i_output_disparity: false + i_publish_left_rect: false + i_publish_right_rect: false + i_publish_synced_rect_pair: false + i_publish_topic: true + i_rectify_edge_fill_color: 0 + i_reverse_stereo_socket_order: false + i_right_rect_add_exposure_offset: false + i_right_rect_enable_feature_tracker: false + i_right_rect_exposure_offset: 0 + i_right_rect_low_bandwidth: false + i_right_rect_low_bandwidth_quality: 50 + i_right_socket_id: 2 + i_set_disparity_to_depth_use_spec_translation: false + i_set_input_size: false + i_socket_name: rgb + i_stereo_conf_threshold: 240 + i_subpixel: false + i_update_ros_base_time_on_ros_msg: false + i_width: 1280 + use_sim_time: false