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Publish aligned ToF output on v3 jazzy #787

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Publish aligned ToF output on v3 jazzy #787

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21 changes: 15 additions & 6 deletions depthai_ros_driver/src/dai_nodes/sensors/tof.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,6 @@ ToF::ToF(const std::string& daiNodeName,
boardSocket = socket;
ph = std::make_unique<param_handlers::ToFParamHandler>(node, daiNodeName, deviceName, rsCompat);
ph->declareParams(tofNode, socket);
setInOut(pipeline);
aligned = ph->getParam<bool>(param_handlers::ParamNames::ALIGNED);
if(aligned) {
alignNode = pipeline->create<dai::node::ImageAlign>();
Expand All @@ -37,6 +36,7 @@ ToF::ToF(const std::string& daiNodeName,
alignNode->inputAlignTo.setBlocking(false);
RCLCPP_DEBUG(getLogger(), "ToF is aligned, make sure to connect inputs/outputs in pipeline creation");
}
setInOut(pipeline);
RCLCPP_DEBUG(node->get_logger(), "Node %s created", daiNodeName.c_str());
}
ToF::~ToF() = default;
Expand All @@ -57,14 +57,23 @@ void ToF::setInOut(std::shared_ptr<dai::Pipeline> pipeline) {
encConfig.quality = ph->getParam<int>(ParamNames::LOW_BANDWIDTH_QUALITY);
encConfig.enabled = ph->getParam<bool>(ParamNames::LOW_BANDWIDTH);

tofPub = setupOutput(pipeline, tofQName, &tofNode->depth, ph->getParam<bool>(ParamNames::SYNCED), encConfig);
auto* tofOut = aligned ? static_cast<dai::Node::Output*>(&alignNode->outputAligned) : static_cast<dai::Node::Output*>(&tofNode->depth);
tofPub = setupOutput(pipeline, tofQName, tofOut, ph->getParam<bool>(ParamNames::SYNCED), encConfig);
}
}

void ToF::setupQueues(std::shared_ptr<dai::Device> device) {
using param_handlers::ParamNames;
if(ph->getParam<bool>(ParamNames::PUBLISH_TOPIC)) {
auto tfPrefix = getOpticalFrameName(getSocketName(boardSocket));
auto pubSocket = aligned ? getAlignedSocketID() : boardSocket;
auto tfPrefix = getOpticalFrameName(getSocketName(pubSocket));
auto pubWidth = ph->getParam<int>(ParamNames::WIDTH);
auto pubHeight = ph->getParam<int>(ParamNames::HEIGHT);
if(aligned) {
auto alignedSocketName = getSocketName(pubSocket);
pubWidth = ph->getOtherNodeParam<int>(alignedSocketName, ParamNames::WIDTH);
pubHeight = ph->getOtherNodeParam<int>(alignedSocketName, ParamNames::HEIGHT);
}
Comment on lines +68 to +76

utils::ImgConverterConfig convConfig;
convConfig.tfPrefix = tfPrefix;
Expand All @@ -80,11 +89,11 @@ void ToF::setupQueues(std::shared_ptr<dai::Device> device) {
pubConfig.daiNodeName = getName();
pubConfig.topicName = "~/" + getName();
pubConfig.lazyPub = ph->getParam<bool>(ParamNames::ENABLE_LAZY_PUBLISHER);
pubConfig.socket = ph->getSocketID();
pubConfig.socket = pubSocket;
pubConfig.calibrationFile = ph->getParam<std::string>(ParamNames::CALIBRATION_FILE);
pubConfig.rectified = false;
pubConfig.width = ph->getParam<int>(ParamNames::WIDTH);
pubConfig.height = ph->getParam<int>(ParamNames::HEIGHT);
pubConfig.width = pubWidth;
pubConfig.height = pubHeight;
pubConfig.maxQSize = ph->getParam<int>(ParamNames::MAX_Q_SIZE);

tofPub->setup(device, convConfig, pubConfig);
Expand Down