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924 introduce default depth param #943

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merged 7 commits into from Feb 21, 2024
Merged

924 introduce default depth param #943

merged 7 commits into from Feb 21, 2024

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PhilippPolterauer
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@PhilippPolterauer PhilippPolterauer commented Feb 17, 2024 •
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this pull request attempts to fix #924

changes:

  • changed the argument name range_max which was missleading to invalid_depth which captures the true meaning of the paramter
  • Introduction of a parameter called invalid_depth, which is the value that will be assigned to points that are not valid according to DepthTraits<T>::valid
  • small fixes regarding use of non const shared ptr references
  • changed for loop from int to uint32_t avoiding many type casts

Open:

  • UB when reinterpret casting the pointcloud data?
  • introduction of a true "max_depth" or "max_range" paramter

Comment:
i think the term range and depth is not always used consistently, my understanding is
range meaning point to point distance, and depth point to camera plane distance

@PhilippPolterauer PhilippPolterauer marked this pull request as ready for review February 17, 2024 11:21
@PhilippPolterauer PhilippPolterauer mentioned this pull request Feb 17, 2024
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@PhilippPolterauer
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in the meantime i further research the UB topic, and after watching Video i am now fairly certain, that most use of reinterpret_cast is actually UB. Should i raise a new issue dedicated to this?

@mikeferguson
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Yeah, go ahead and open a new issue where we can further investigate the reinterpret_cast

mikeferguson
mikeferguson requested changes Feb 18, 2024
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A couple of minor items - once we address those, this can be merged (I'm going to just double check things by firing up my robot on this branch tomorrow to make sure the default behavior hasn't changed even though it all looks correct)

depth_image_proc/include/depth_image_proc/conversions.hpp Outdated Show resolved Hide resolved
depth_image_proc/src/point_cloud_xyz.cpp Show resolved Hide resolved
@PhilippPolterauer
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Thanks for the feedback. As soon as i have time, i will implement the changes.

@PhilippPolterauer
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  • added invalid_depth to parameter description in the docs
  • removed comment
  • added the invalid_depth to the other non radial nodes as well.

If there is something more to do, please let me know!

@mikeferguson
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This looks good - thanks for the contribution - just waiting on the final CI to pass

@PhilippPolterauer
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i just clicked update branch which i think was a mistake, since now the ci is waiting again. sorry for the confusion :)

@mikeferguson mikeferguson merged commit 432f134 into ros-perception:rolling Feb 21, 2024
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@PhilippPolterauer PhilippPolterauer deleted the 924-introduce-default-depth-param branch February 24, 2024 18:57
CursedRock17 added a commit to CursedRock17/image_pipeline that referenced this pull request Feb 26, 2024
@CursedRock17
Adding a parameter for camera calibration
7f5d1d1 
Signed-off-by: CursedRock17 <mtglucas1@gmail.com>

Revert "Initial Merging: Setting up ImageSaverNode"

This reverts commit 4534c95.

DisparityNode: replace full_dp parameter with sgbm_mode (ros-perception#945)

Previously, only the SGBM and HH modes were allowed

add invalid_depth param (ros-perception#943)

Add option to set all invalid depth pixels to a specified value, typically the maximum range.

 * Updates convertDepth parameter name and optimizes use of the parameter.
 * Updates PointCloudXYZ, PointCloudXYZI, and PointCloudXYZRGB with new invalid_depth parameter

Adding scale parameter to camera calibrator

Signed-off-by: CursedRock17 <mtglucas1@gmail.com>
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range_max sensor value introduced but not used
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@PhilippPolterauer @mikeferguson