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Enabling RGB8 Infrared stream #2806

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merged 3 commits into from
Jul 18, 2023
Merged

Enabling RGB8 Infrared stream #2806

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f8a2af0
Enabling RGB8 Infrared stream
Arun-Prasad-V Jul 6, 2023
948a055
added default format for infra2 stream
Arun-Prasad-V Jul 6, 2023
7d3fc10
Disabling Infra0 stream by default
Arun-Prasad-V Jul 7, 2023
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1 change: 0 additions & 1 deletion realsense2_camera/include/base_realsense_node.h
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Expand Up @@ -251,7 +251,6 @@ namespace realsense2_camera
bool _hold_back_imu_for_frames;

std::map<stream_index_pair, rs2_intrinsics> _stream_intrinsics;
std::map<rs2_stream, rs2_format> _format;
std::map<stream_index_pair, bool> _enable;
bool _publish_tf;
double _tf_publish_rate, _diagnostics_period;
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2 changes: 1 addition & 1 deletion realsense2_camera/include/profile_manager.h
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Expand Up @@ -79,7 +79,7 @@ namespace realsense2_camera

private:
std::string _module_name;
std::map<rs2_stream, rs2_format> _allowed_formats;
std::map<stream_index_pair, rs2_format> _allowed_formats;
int _fps;
int _width, _height;
bool _is_profile_exist;
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2 changes: 1 addition & 1 deletion realsense2_camera/launch/rs_launch.py
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Expand Up @@ -35,9 +35,9 @@
{'name': 'rgb_camera.profile', 'default': '0,0,0', 'description': 'color image width'},
{'name': 'rgb_camera.enable_auto_exposure', 'default': 'true', 'description': 'enable/disable auto exposure for color image'},
{'name': 'enable_color', 'default': 'true', 'description': 'enable color stream'},
{'name': 'enable_infra', 'default': 'false', 'description': 'enable infra0 stream'},
{'name': 'enable_infra1', 'default': 'false', 'description': 'enable infra1 stream'},
{'name': 'enable_infra2', 'default': 'false', 'description': 'enable infra2 stream'},
{'name': 'infra_rgb', 'default': 'false', 'description': 'enable infra2 stream'},
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{'name': 'enable_fisheye1', 'default': 'true', 'description': 'enable fisheye1 stream'},
{'name': 'enable_fisheye2', 'default': 'true', 'description': 'enable fisheye2 stream'},
{'name': 'enable_confidence', 'default': 'true', 'description': 'enable depth stream'},
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3 changes: 0 additions & 3 deletions realsense2_camera/src/base_realsense_node.cpp
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Expand Up @@ -126,9 +126,6 @@ BaseRealSenseNode::BaseRealSenseNode(rclcpp::Node& node,
_encoding[1] = sensor_msgs::image_encodings::MONO8; // ROS message type
_encoding[2] = sensor_msgs::image_encodings::TYPE_16UC1; // ROS message type
_encoding[3] = sensor_msgs::image_encodings::RGB8; // ROS message type

// Infrared stream
_format[RS2_STREAM_INFRARED] = RS2_FORMAT_Y8;
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@Arun-Prasad-V Arun-Prasad-V Jul 6, 2023 •
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This variable is not used anywhere.


_monitor_options = {RS2_OPTION_ASIC_TEMPERATURE, RS2_OPTION_PROJECTOR_TEMPERATURE};
}
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17 changes: 13 additions & 4 deletions realsense2_camera/src/profile_manager.cpp
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Expand Up @@ -88,7 +88,13 @@ void ProfilesManager::registerSensorUpdateParam(std::string template_name,
{
std::string param_name = applyTemplateName(template_name, sip);
if (params.find(sip) == params.end())
params[sip] = std::make_shared<T>(value);
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{
if (sip == INFRA0)
// Disabling Infra 0 stream by default
params[sip] = std::make_shared<T>(false);
else
params[sip] = std::make_shared<T>(value);
}
std::shared_ptr<T> param = params[sip];
_params.getParameters()->setParam<T>(param_name, *(params[sip]), [param, update_sensor_func](const rclcpp::Parameter& parameter)
{
Expand Down Expand Up @@ -198,8 +204,10 @@ VideoProfilesManager::VideoProfilesManager(std::shared_ptr<Parameters> parameter
_module_name(module_name),
_force_image_default_qos(force_image_default_qos)
{
_allowed_formats[RS2_STREAM_DEPTH] = RS2_FORMAT_Z16;
_allowed_formats[RS2_STREAM_INFRARED] = RS2_FORMAT_Y8;
_allowed_formats[{RS2_STREAM_DEPTH, 0}] = RS2_FORMAT_Z16;
_allowed_formats[{RS2_STREAM_INFRARED, 0}] = RS2_FORMAT_RGB8;
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_allowed_formats[{RS2_STREAM_INFRARED, 1}] = RS2_FORMAT_Y8;
_allowed_formats[{RS2_STREAM_INFRARED, 2}] = RS2_FORMAT_Y8;
}

bool VideoProfilesManager::isSameProfileValues(const rs2::stream_profile& profile, const int width, const int height, const int fps)
Expand All @@ -209,10 +217,11 @@ bool VideoProfilesManager::isSameProfileValues(const rs2::stream_profile& profil
auto video_profile = profile.as<rs2::video_stream_profile>();
ROS_DEBUG_STREAM("Sensor profile: " << profile_string(profile));

stream_index_pair sip = {video_profile.stream_type(), video_profile.stream_index()};
return ((video_profile.width() == width) &&
(video_profile.height() == height) &&
(video_profile.fps() == fps) &&
(_allowed_formats.find(video_profile.stream_type()) == _allowed_formats.end() || video_profile.format() == _allowed_formats[video_profile.stream_type()] ));
(_allowed_formats.find(sip) == _allowed_formats.end() || video_profile.format() == _allowed_formats[sip] ));
}

bool VideoProfilesManager::isWantedProfile(const rs2::stream_profile& profile)
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