Merge branch 'add_custom_res' into 'master'

Add general.pub_downscale_factor param

See merge request sl/zed-ros2-wrapper!27

CHANGELOG.rst

@@ -1,6 +1,13 @@
 LATEST CHANGES
 ==============
 
+2023-08-02
+----------
+- The parameter `general.pub_resolution` can now take only `NATIVE` and `CUSTOM` values. 'NATIVE' to use the same `general.grab_resolution` - `CUSTOM` to apply the `general.pub_downscale_factor` downscale factory to reduce bandwidth in transmission
+- Add new parameter `general.pub_downscale_factor` to be used with the new option `CUSTOM` for the parameter `general.pub_resolution`
+- `ULTRA` is the new default value for `depth.depth_mode` (better performance for odometry and positional tracking)
+- Add resolution `HD1080` for ZED X
+
 2023-07-31
 ----------
 - Fix issue with Body Tracking start/stop by service call. Now Body Tracking can be restarted multiple times

zed_components/src/zed_camera/include/sl_types.hpp

@@ -147,14 +147,8 @@ typedef rclcpp::Service<robot_localization::srv::FromLL>::SharedPtr fromLLSrvPtr
    */
 typedef enum
 {
-  HD2K,  //!< 2208x1242
-  HD1080,  //!< 1920x1080
-  HD1200,  //!< 1920x1200
-  HD720,  //!< 1280x720
-  MEDIUM,  //!< 896x512
-  SVGA,  //!< 960x600
-  VGA,  //!< 672x376
-  LOW  //!< Half-MEDIUM 448x256
+  NATIVE,  //!< Same camera grab resolution
+  CUSTOM   //!< Custom Rescale Factor
 } PubRes;
 // <---- Typedefs to simplify declarations
 }  // namespace stereolabs

zed_components/src/zed_camera/include/zed_camera_component.hpp

@@ -267,11 +267,11 @@ class ZedCamera : public rclcpp::Node
   bool mSvoRealtime = false;
   int mVerbose = 1;
   int mGpuId = -1;
-  sl::RESOLUTION mCamResol = sl::RESOLUTION::HD720;  // Default resolution: RESOLUTION_HD720
-  PubRes mPubResolution = MEDIUM;  // Use native DNN resolution for NEURAL depth to improve speed and quality.
-  sl::DEPTH_MODE mDepthMode = sl::DEPTH_MODE::PERFORMANCE;  // Default depth mode: DEPTH_MODE_PERFORMANCE
-  bool mDepthDisabled =
-    false;  // Indicates if depth calculation is not required (DEPTH_MODE::NONE se for )
+  sl::RESOLUTION mCamResol = sl::RESOLUTION::HD1080;  // Default resolution: RESOLUTION_HD1080
+  PubRes mPubResolution = PubRes::NATIVE;   // Use native grab resolution by default
+  double mCustomDownscaleFactor = 1.0; // Used to rescale data with user factor
+  sl::DEPTH_MODE mDepthMode = sl::DEPTH_MODE::ULTRA;  // Default depth mode: ULTRA
+  bool mDepthDisabled = false;  // Indicates if depth calculation is not required (DEPTH_MODE::NONE)
   int mDepthStabilization = 1;
   std::vector<std::vector<float>> mRoiParam;
   int mCamTimeoutSec = 5;

zed_components/src/zed_camera/src/zed_camera_component.cpp

@@ -47,10 +47,6 @@ using namespace std::placeholders;
 // Used for simulation data input
 #define ZED_SDK_PORT 30000
 
-// Custom output resolution
-#define MEDIUM_W 896
-#define MEDIUM_H 512
-
 namespace stereolabs
 {
 #ifndef DEG2RAD
@@ -630,14 +626,15 @@ void ZedCamera::getGeneralParams()
 
   // TODO(walter) ADD SVO SAVE COMPRESSION PARAMETERS
 
-  std::string resol = "HD720";
+  std::string resol = "AUTO";
   getParam("general.grab_resolution", resol, resol);
   if (resol == "AUTO") {
     mCamResol = sl::RESOLUTION::AUTO;
   } else if (sl_tools::isZEDX(mCamUserModel)) {
-    // TODO(Walter) Add support for HD1080 when available
     if (resol == "HD1200") {
       mCamResol = sl::RESOLUTION::HD1200;
+    } else if (resol == "HD1080") {
+      mCamResol = sl::RESOLUTION::HD1080;
     } else if (resol == "SVGA") {
       mCamResol = sl::RESOLUTION::SVGA;
     } else {
@@ -669,29 +666,27 @@ void ZedCamera::getGeneralParams()
 
   std::string out_resol = "MEDIUM";
   getParam("general.pub_resolution", out_resol, out_resol);
-  if (out_resol == "HD2K") {
-    mPubResolution = PubRes::HD2K;
-  } else if (out_resol == "HD1080") {
-    mPubResolution = PubRes::HD1080;
-  } else if (out_resol == "HD1200") {
-    mPubResolution = PubRes::HD1200;
-  } else if (out_resol == "HD720") {
-    mPubResolution = PubRes::HD720;
-  } else if (out_resol == "SVGA") {
-    mPubResolution = PubRes::SVGA;
-  } else if (out_resol == "VGA") {
-    mPubResolution = PubRes::VGA;
-  } else if (out_resol == "MEDIUM") {
-    mPubResolution = PubRes::MEDIUM;
-  } else if (out_resol == "LOW") {
-    mPubResolution = PubRes::LOW;
+  if (out_resol == "NATIVE") {
+    mPubResolution = PubRes::NATIVE;
+  } else if (out_resol == "CUSTOM") {
+    mPubResolution = PubRes::CUSTOM;
   } else {
-    RCLCPP_INFO(get_logger(), "Not valid 'general.pub_resolution' value. Using default setting.");
-    out_resol = "MEDIUM";
-    mPubResolution = PubRes::MEDIUM;
+    RCLCPP_WARN(
+      get_logger(), "Not valid 'general.pub_resolution' value: '%s'. Using default setting instead.",
+      out_resol.c_str());
+    out_resol = "NATIVE";
+    mPubResolution = PubRes::NATIVE;
   }
   RCLCPP_INFO_STREAM(get_logger(), " * Publishing resolution: " << out_resol.c_str());
 
+  if (mPubResolution == PubRes::CUSTOM) {
+    getParam(
+      "general.pub_downscale_factor", mCustomDownscaleFactor, mCustomDownscaleFactor,
+      " * Publishing downscale factor: ");
+  } else {
+    mCustomDownscaleFactor = 1.0;
+  }
+
   std::string parsed_str = getParam("general.region_of_interest", mRoiParam);
   RCLCPP_INFO_STREAM(get_logger(), " * Region of interest: " << parsed_str.c_str());
 
@@ -3478,37 +3473,8 @@ bool ZedCamera::startCamera()
     get_logger(), " * Camera grab frame size -> " << mCamWidth << "x" << mCamHeight);
 
   int pub_w, pub_h;
-  switch (mPubResolution) {
-    case PubRes::HD2K:
-      pub_w = sl::getResolution(sl::RESOLUTION::HD2K).width;
-      pub_h = sl::getResolution(sl::RESOLUTION::HD2K).height;
-      break;
-
-    case PubRes::HD1080:
-      pub_w = sl::getResolution(sl::RESOLUTION::HD1080).width;
-      pub_h = sl::getResolution(sl::RESOLUTION::HD1080).height;
-      break;
-
-    case PubRes::HD720:
-      pub_w = sl::getResolution(sl::RESOLUTION::HD720).width;
-      pub_h = sl::getResolution(sl::RESOLUTION::HD720).height;
-      break;
-
-    case PubRes::MEDIUM:
-      pub_w = MEDIUM_W;
-      pub_h = MEDIUM_H;
-      break;
-
-    case PubRes::VGA:
-      pub_w = sl::getResolution(sl::RESOLUTION::VGA).width;
-      pub_h = sl::getResolution(sl::RESOLUTION::VGA).height;
-      break;
-
-    case PubRes::LOW:
-      pub_w = MEDIUM_W / 2;
-      pub_h = MEDIUM_H / 2;
-      break;
-  }
+  pub_w = static_cast<int>(std::round(mCamWidth / mCustomDownscaleFactor));
+  pub_h = static_cast<int>(std::round(mCamHeight / mCustomDownscaleFactor));
 
   if (pub_w > mCamWidth || pub_h > mCamHeight) {
     RCLCPP_WARN_STREAM(

zed_wrapper/config/common.yaml

@@ -15,7 +15,8 @@
             camera_flip: false
             zed_id: 0 # IMPORTANT: to be used in simulation to distinguish individual cameras im multi-camera configurations - usually overwritten by launch file
             serial_number: 0 # usually overwritten by launch file
-            pub_resolution: 'MEDIUM' # The resolution used for output. 'HD2K', 'HD1080', 'HD1200', 'HD720', 'MEDIUM', 'SVGA', 'VGA', 'LOW'
+            pub_resolution: 'CUSTOM' # The resolution used for output. 'NATIVE' to use the same `general.grab_resolution` - `CUSTOM` to apply the `general.pub_downscale_factor` downscale factory to reduce bandwidth in transmission
+            pub_downscale_factor: 2.0 # rescale factor used to rescale image before publishing when 'pub_resolution' is 'CUSTOM'
             pub_frame_rate: 15.0 # [DYNAMIC] - frequency of publishing of visual images and depth images
             gpu_id: -1
             region_of_interest: '[]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent.
@@ -42,7 +43,7 @@
             qos_durability: 2 # '1': TRANSIENT_LOCAL - '2': VOLATILE
 
         depth:
-            depth_mode: 'NEURAL' # Matches the ZED SDK setting: 'NONE', 'PERFORMANCE', 'QUALITY', 'ULTRA', 'NEURAL' - Note: if 'NONE' all the modules that requires depth extraction are disabled by default (Pos. Tracking, Obj. Detection, Mapping, ...)
+            depth_mode: 'ULTRA' # Matches the ZED SDK setting: 'NONE', 'PERFORMANCE', 'QUALITY', 'ULTRA', 'NEURAL' - Note: if 'NONE' all the modules that requires depth extraction are disabled by default (Pos. Tracking, Obj. Detection, Mapping, ...)
             depth_stabilization: 1 # Forces positional tracking to start if major than 0 - Range: [0,100]
             openni_depth_mode: false # 'false': 32bit float [meters], 'true': 16bit unsigned int [millimeters]
             point_cloud_freq: 10.0 # [DYNAMIC] - frequency of the pointcloud publishing (equal or less to `grab_frame_rate` value)

zed_wrapper/config/zedx.yaml

@@ -6,8 +6,8 @@
         general:
           camera_model: "zedx"
           camera_name: "zedx" # usually overwritten by launch file
-          grab_resolution: 'HD1200' # The native camera grab resolution. 'HD1200', 'SVGA', 'AUTO'
-          grab_frame_rate: 30 # ZED SDK internal grabbing rate (HD1200: 60 or 30 - SVGA: 120 or 60)
+          grab_resolution: 'HD1200' # The native camera grab resolution. 'HD1200', 'HD1080', 'SVGA', 'AUTO'
+          grab_frame_rate: 30 # ZED SDK internal grabbing rate (HD1200/HD1080: 60, 30, 15 - SVGA: 120, 60, 30, 15)
 
         video:
           exposure_time: 16000 # Defines the real exposure time in microseconds. Recommended to control manual exposure (instead of `video.exposure` setting)

zed_wrapper/config/zedxm.yaml

@@ -6,8 +6,8 @@
         general:
           camera_model: "zedxm"
           camera_name: "zedxm" # usually overwritten by launch file
-          grab_resolution: 'HD1200' # The native camera grab resolution. 'HD1200', 'SVGA', 'AUTO'
-          grab_frame_rate: 30 # ZED SDK internal grabbing rate (HD1200: 60 or 30 - SVGA: 120 or 60)
+          grab_resolution: 'HD1200' # The native camera grab resolution. 'HD1200', 'HD1080', 'SVGA', 'AUTO'
+          grab_frame_rate: 30 # ZED SDK internal grabbing rate (HD1200/HD1080: 60, 30, 15 - SVGA: 120, 60, 30, 15)
 
         video:
           exposure_time: 16666 # Defines the real exposure time in microseconds. Recommended to control manual exposure (instead of `video.exposure` setting)