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Initial commit: Exchange boolean full_dp to integer sgbm_mode. #945

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merged 3 commits into from
Feb 19, 2024
Merged

Initial commit: Exchange boolean full_dp to integer sgbm_mode. #945

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bd5fd6e
Initial commit: Exchange boolean full_dp to integer sgbm_mode.
PabloDArandaR Feb 18, 2024
b1cbecf
Added documentation about sgbm_mode param.
PabloDArandaR Feb 18, 2024
e4faced
Edited the changelog.rst to include the changes from this PR.
PabloDArandaR Feb 19, 2024
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6 changes: 3 additions & 3 deletions stereo_image_proc/launch/stereo_image_proc.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -69,7 +69,7 @@ def generate_launch_description():
'uniqueness_ratio': LaunchConfiguration('uniqueness_ratio'),
'P1': LaunchConfiguration('P1'),
'P2': LaunchConfiguration('P2'),
'full_dp': LaunchConfiguration('full_dp'),
'sgbm_mode': LaunchConfiguration('sgbm_mode'),
}],
remappings=[
('left/image_rect', [LaunchConfiguration('left_namespace'), '/image_rect']),
Expand Down Expand Up @@ -199,8 +199,8 @@ def generate_launch_description():
'(Semi-Global Block Matching only)'
),
DeclareLaunchArgument(
name='full_dp', default_value='False',
description='Run the full variant of the algorithm (Semi-Global Block Matching only)'
name='sgbm_mode', default_value='0',
description='The mode of the SGBM matcher to be used'
),
ComposableNodeContainer(
condition=LaunchConfigurationEquals('container', ''),
Expand Down
18 changes: 8 additions & 10 deletions stereo_image_proc/src/stereo_image_proc/disparity_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -258,6 +258,12 @@ DisparityNode::DisparityNode(const rclcpp::NodeOptions & options)
"Maximum allowed difference in the left-right disparity check in pixels"
" (Semi-Global Block Matching only)",
0, 0, 128, 1);
add_param_to_map(
int_params,
"sgbm_mode",
"Mode of the SGBM stereo matcher."
"",
0, 0, 3, 1);

// Describe double parameters
std::map<std::string, std::pair<double, rcl_interfaces::msg::ParameterDescriptor>> double_params;
Expand All @@ -277,17 +283,9 @@ DisparityNode::DisparityNode(const rclcpp::NodeOptions & options)
"The second parameter ccontrolling the disparity smoothness (Semi-Global Block Matching only)",
400.0, 0.0, 4000.0, 0.0);

// Describe bool parameters
std::map<std::string, std::pair<bool, rcl_interfaces::msg::ParameterDescriptor>> bool_params;
rcl_interfaces::msg::ParameterDescriptor full_dp_descriptor;
full_dp_descriptor.description =
"Run the full variant of the algorithm (Semi-Global Block Matching only)";
bool_params["full_dp"] = std::make_pair(false, full_dp_descriptor);

// Declaring parameters triggers the previously registered callback
this->declare_parameters("", int_params);
this->declare_parameters("", double_params);
this->declare_parameters("", bool_params);

// Publisher options to allow reconfigurable qos settings and connect callback
rclcpp::PublisherOptions pub_opts;
Expand Down Expand Up @@ -424,8 +422,8 @@ rcl_interfaces::msg::SetParametersResult DisparityNode::parameterSetCb(
block_matcher_.setSpeckleSize(param.as_int());
} else if ("speckle_range" == param_name) {
block_matcher_.setSpeckleRange(param.as_int());
} else if ("full_dp" == param_name) {
block_matcher_.setSgbmMode(param.as_bool());
} else if ("sgbm_mode" == param_name) {
block_matcher_.setSgbmMode(param.as_int());
} else if ("P1" == param_name) {
block_matcher_.setP1(param.as_double());
} else if ("P2" == param_name) {
Expand Down
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