Update default resolution for stereo - Iron (#435)

luxonis · Oct 16, 2023 · a4cb1bb · a4cb1bb
1 parent 10bc22a
commit a4cb1bb
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Showing 3 changed files with 14 additions and 10 deletions.
diff --git a/depthai_ros_driver/src/dai_nodes/stereo.cpp b/depthai_ros_driver/src/dai_nodes/stereo.cpp
@@ -136,8 +136,8 @@ void Stereo::setupRectQueue(std::shared_ptr<dai::Device> device,
         auto offset = static_cast<dai::CameraExposureOffset>(ph->getParam<int>(isLeft ? "i_left_rect_exposure_offset" : "i_right_rect_exposure_offset"));
         conv->addExposureOffset(offset);
     }
-    im = std::make_shared<camera_info_manager::CameraInfoManager>(
-        getROSNode()->create_sub_node(std::string(getROSNode()->get_name()) + "/" + sensorName).get(), "/rect");
+    im = std::make_shared<camera_info_manager::CameraInfoManager>(getROSNode()->create_sub_node(std::string(getROSNode()->get_name()) + "/" + sensorName).get(),
+                                                                  "/rect");
     if(ph->getParam<bool>("i_reverse_stereo_socket_order")) {
         conv->reverseStereoSocketOrder();
     }
@@ -336,12 +336,15 @@ void Stereo::closeQueues() {
     if(ph->getParam<bool>("i_publish_topic")) {
         stereoQ->close();
     }
-    if(ph->getParam<bool>("i_publish_left_rect") || ph->getParam<bool>("i_publish_synced_rect_pair")) {
-        syncTimer->reset();
+    if(ph->getParam<bool>("i_publish_left_rect")) {
         leftRectQ->close();
     }
-    if(ph->getParam<bool>("i_publish_right_rect") || ph->getParam<bool>("i_publish_synced_rect_pair")) {
-        syncTimer->reset();
+    if(ph->getParam<bool>("i_publish_right_rect")) {
+        rightRectQ->close();
+    }
+    if(ph->getParam<bool>("i_publish_synced_rect_pair")) {
+        syncTimer->cancel();
+        leftRectQ->close();
         rightRectQ->close();
     }
     if(ph->getParam<bool>("i_left_rect_enable_feature_tracker")) {

diff --git a/depthai_ros_driver/src/dai_nodes/sys_logger.cpp b/depthai_ros_driver/src/dai_nodes/sys_logger.cpp
@@ -64,8 +64,9 @@ std::string SysLogger::sysInfoToString(const dai::SystemInformation& sysInfo) {
 
 void SysLogger::produceDiagnostics(diagnostic_updater::DiagnosticStatusWrapper& stat) {
     try {
-        auto logData = loggerQ->tryGet<dai::SystemInformation>();
-        if(logData) {
+        bool timeout;
+        auto logData = loggerQ->get<dai::SystemInformation>(std::chrono::seconds(5), timeout);
+        if(!timeout) {
             stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "System Information");
             stat.add("System Information", sysInfoToString(*logData));
         } else {

diff --git a/depthai_ros_driver/src/param_handlers/sensor_param_handler.cpp b/depthai_ros_driver/src/param_handlers/sensor_param_handler.cpp
@@ -70,7 +70,7 @@ void SensorParamHandler::declareParams(std::shared_ptr<dai::node::MonoCamera> mo
         monoCam->setIsp3aFps(declareAndLogParam<int>("i_isp3a_fps", 10));
     }
     monoCam->setImageOrientation(
-        utils::getValFromMap(declareAndLogParam<std::string>("i_sensor_img_orientation", "NORMAL"), dai_nodes::sensor_helpers::cameraImageOrientationMap));
+        utils::getValFromMap(declareAndLogParam<std::string>("i_sensor_img_orientation", "AUTO"), dai_nodes::sensor_helpers::cameraImageOrientationMap));
 }
 void SensorParamHandler::declareParams(std::shared_ptr<dai::node::ColorCamera> colorCam, dai_nodes::sensor_helpers::ImageSensor sensor, bool publish) {
     declareAndLogParam<bool>("i_publish_topic", publish);
@@ -158,7 +158,7 @@ void SensorParamHandler::declareParams(std::shared_ptr<dai::node::ColorCamera> c
         colorCam->setIsp3aFps(declareAndLogParam<int>("i_isp3a_fps", 10));
     }
     colorCam->setImageOrientation(
-        utils::getValFromMap(declareAndLogParam<std::string>("i_sensor_img_orientation", "NORMAL"), dai_nodes::sensor_helpers::cameraImageOrientationMap));
+        utils::getValFromMap(declareAndLogParam<std::string>("i_sensor_img_orientation", "AUTO"), dai_nodes::sensor_helpers::cameraImageOrientationMap));
 }
 dai::CameraControl SensorParamHandler::setRuntimeParams(const std::vector<rclcpp::Parameter>& params) {
     dai::CameraControl ctrl;