Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

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

Merged
merged 3 commits into from
Feb 19, 2024
Merged

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

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
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
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 4 additions & 0 deletions image_pipeline/doc/changelog.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -38,3 +38,7 @@ There are several major change between ``Iron`` and ``Jazzy``:
``rgb/image_rect_color`` to ``rgb/image_raw`` to make clear that the
unrectified camera projection matrix is used, and for consistency with
other radial nodes.
* The boolen parameter ``full_dp`` from the DisparityNode has been deleted
and a new integer parameter ``sgbm_mode`` added to enable all the
variations of the stereo matching algorithm SGBM available from the
OpenCV library.
8 changes: 8 additions & 0 deletions stereo_image_proc/doc/components.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,14 @@ Published Topics
Parameters
^^^^^^^^^^

*Disparity algorithm variant*
* **sgbm_mode** (int, default: 0): Stereo matching algorithm variation:

* SGBM (0)
* HH (1)
* SGBM_3WAY (2)
* HH4 (3)

*Disparity pre-filtering*

* **prefilter_size** (int, default: 9): Normalization window size, pixels.
Expand Down
6 changes: 3 additions & 3 deletions stereo_image_proc/launch/stereo_image_proc.launch.py
View file
Open in desktop
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
View file
Open in desktop
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
Loading