fix (maybe) depth encoding again

Author: MoscowskyAnton

config/eod_example.rviz

@@ -21,7 +21,6 @@ Panels:
     Name: Views
     Splitter Ratio: 0.5
   - Class: rviz/Time
-    Experimental: false
     Name: Time
     SyncMode: 0
     SyncSource: Detected Image
@@ -55,6 +54,10 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: true
+        CnnPerson_0:
+          Value: true
+        dai_rgb_camera_optical_frame:
+          Value: true
         oak-d-base-frame:
           Value: true
         oak-d_frame:
@@ -82,6 +85,9 @@ Visualization Manager:
       Show Axes: true
       Show Names: true
       Tree:
+        dai_rgb_camera_optical_frame:
+          CnnPerson_0:
+            {}
         oak-d-base-frame:
           oak-d_frame:
             oak_imu_frame:
@@ -132,7 +138,9 @@ Visualization Manager:
       Marker Topic: /extended_object_detection/simple_objects_markers
       Name: SimpleObjects
       Namespaces:
-        {}
+        CnnPerson_arrow: true
+        CnnPerson_frame: true
+        CnnPerson_text: true
       Queue Size: 100
       Value: true
     - Class: rviz/MarkerArray
@@ -145,7 +153,7 @@ Visualization Manager:
       Value: true
     - Class: rviz/Image
       Enabled: true
-      Image Topic: /extended_object_detection/detected_image
+      Image Topic: /extended_object_detection/detected_image_0
       Max Value: 1
       Median window: 5
       Min Value: 0
@@ -157,7 +165,7 @@ Visualization Manager:
       Value: true
     - Class: rviz/Image
       Enabled: true
-      Image Topic: /oak/stereo/depth
+      Image Topic: /rgb_stereo_publisher/stereo/depth
       Max Value: 1
       Median window: 5
       Min Value: 0
@@ -199,7 +207,7 @@ Visualization Manager:
   Global Options:
     Background Color: 48; 48; 48
     Default Light: true
-    Fixed Frame: oak-d-base-frame
+    Fixed Frame: dai_rgb_camera_optical_frame
     Frame Rate: 30
   Name: root
   Tools:
@@ -223,25 +231,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 5.629319667816162
+      Distance: 34.50994873046875
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: 1.152783751487732
-        Y: -0.16227556765079498
-        Z: -0.4943612217903137
+        X: 4.361662864685059
+        Y: 0.03402687981724739
+        Z: 7.5114288330078125
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.7097955346107483
+      Pitch: 0.19979584217071533
       Target Frame: <Fixed Frame>
-      Yaw: 2.1604249477386475
+      Yaw: 2.160426139831543
     Saved: ~
 Window Geometry:
   DepthImage:
@@ -253,7 +261,7 @@ Window Geometry:
   Height: 1015
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000341fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000420000020d000000fd01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000014004400650070007400680049006d0061006700650100000250000001330000002201000003000000010000031100000341fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc0000004200000341000000ef0100001bfa000000000100000002fb0000001c0044006500740065006300740065006400200049006d0061006700650100000000ffffffff000000a201000003fb0000000a005600690065007700730100000670000001100000011001000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000001e8fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000004efc0100000002fb0000000800540069006d0065010000000000000780000002ad01000003fb0000000800540069006d00650100000000000004500000000000000000000003030000034100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000341fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000420000020d000000fd01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000014004400650070007400680049006d0061006700650100000250000001330000002201000003000000010000031100000341fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc0000004200000341000000ef0100001bfa000000000100000002fb0000001c0044006500740065006300740065006400200049006d0061006700650100000000ffffffff000000a201000003fb0000000a005600690065007700730100000670000001100000011001000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000001e8fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000004efc0100000002fb0000000800540069006d00650100000000000007800000037a01000003fb0000000800540069006d00650100000000000004500000000000000000000003030000034100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:

config/object_base_example/ObjectBaseExample.xml

@@ -84,7 +84,7 @@
 
     <Attribute Name="DepthKinect" Type="Depth" depthScale="0.001"/>
 
-    <Attribute Name="DepthCenter" Type="Depth" depthScale="0.001" mode="2"/>
+    <Attribute Name="DepthCenter" Type="Depth" depthScale="0.001" mode="0"/>
 
     <Attribute Name="DlibFace" Type="FaceDlib" Probability="0.4" base_file_path="face_recognition/base_faces.db" base_dir_path="face_recognition/base_faces/" sp_path="face_recognition/shape_predictor_5_face_landmarks.dat" net_path="face_recognition/dlib_face_recognition_resnet_model_v1.dat"/>
 

launch/extended_object_detection_oakd_example.launch

@@ -6,30 +6,34 @@
         
     </include>-->
 
-    <include file="$(find ritrover-oakd)/launch/rgb_stereo_publisher.launch">                
-        <arg name="point_cloud_mono" value="true"/>
-        <arg name="urdf" value="true"/>
+    <include file="$(find depthai_examples)/launch/rgb_stereo_node.launch">                
+        <!--<arg name="point_cloud_mono" value="true"/>
+        <arg name="urdf" value="true"/>-->
     </include>
 
     <node name="extended_object_detection" pkg="extended_object_detection" type="extended_object_detection_node" output="screen"  >
 
         <param name="object_base" value="$(arg objectBasePath)"/>
 
-        <param name="subscribe_depth" value="true"/>
         <param name="rate_limit_sec" value="0.1"/>
         <param name="allowed_lag_sec" value="1"/>                
         <param name="publish_image_output" value="true"/>
         <param name="publish_markers" value="true"/>
         <param name="broadcast_tf" value="true"/>
 
 
-        <remap from="camera/image_raw" to="/oak/rgb/image"/>
+        <!--<remap from="camera/image_raw" to="/oak/rgb/image"/>
         <remap from="camera/info" to="/oak/rgb/camera_info"/>
         <remap from="depth/image_raw" to="/oak/stereo/depth"/>
-        <remap from="depth/info" to="/oak/stereo/camera_info"/>
+        <remap from="depth/info" to="/oak/stereo/camera_info"/>-->
 
-        <rosparam param="selected_on_start_simple_objects">[-1]</rosparam>
-        <rosparam param="selected_on_start_complex_objects">[10]</rosparam>
+        <rosparam param="rgb_image_topics">[/rgb_stereo_publisher/color/image]</rosparam>
+        <rosparam param="rgb_info_topics">[/rgb_stereo_publisher/color/camera_info]</rosparam>
+        <rosparam param="depth_image_topics">[/rgb_stereo_publisher/stereo/depth]</rosparam>
+        <rosparam param="depth_info_topics">[/rgb_stereo_publisher/stereo/camera_info]</rosparam>
+        
+        <rosparam param="selected_on_start_simple_objects">[67]</rosparam>
+        <rosparam param="selected_on_start_complex_objects">[-1]</rosparam>
 
     </node>
 

src/extended_object_detection_node/eod_node.cpp

@@ -269,8 +269,9 @@ void EOD_ROS::rgbd_info_cb(const sensor_msgs::ImageConstPtr& rgb_image, const se
     cv::Mat depth;    
     if (depth_image->encoding == sensor_msgs::image_encodings::TYPE_16UC1){    
         depth = cv_bridge::toCvCopy(depth_image, sensor_msgs::image_encodings::TYPE_16UC1)->image;
-        depth.convertTo(depth, CV_32F);
-        depth *= 0.001f;
+        //depth.convertTo(depth, CV_32F);
+        depth.convertTo(depth, CV_16UC1);
+        //depth *= 0.001f;
     }
     else if(depth_image->encoding == sensor_msgs::image_encodings::TYPE_32FC1){        
         depth = cv_bridge::toCvCopy(depth_image, sensor_msgs::image_encodings::TYPE_32FC1)->image;