husarion-depthai-snap

Snap for OAK-x cameras customized for Husarion robots

Apps

app	description
husarion-depthai.start	Start the husarion-depthai.daemon service
husarion-depthai.stop	Stop the husarion-depthai.daemon service
husarion-depthai	Start the application in the foreground (run in the current terminal). Remember to stop the daemon first

Setup Camera Params

The default config parameters for camera node are selected with:

$ sudo snap set husarion-depthai driver.camera-config=default

The default config is get from: /var/snap/husarion-depthai/common/camera-config-default.yaml file:

---
/**:
  ros__parameters:
    camera:
      i_calibration_dump: false
      i_enable_imu: false
      i_enable_ir: false
      i_external_calibration_path: ''
      i_floodlight_brightness: 0
      i_ip: ''
      i_laser_dot_brightness: 800
      i_mx_id: ''
      i_nn_type: none
      i_pipeline_dump: false
      i_pipeline_type: RGB
      i_publish_tf_from_calibration: false
      i_restart_on_diagnostics_error: false
      i_usb_port_id: ''
      i_usb_speed: SUPER_PLUS
    diagnostic_updater:
      period: 1.0
    imu:
      i_acc_cov: 0.0
      i_acc_freq: 400
      i_batch_report_threshold: 5
      i_enable_rotation: false
      i_get_base_device_timestamp: false
      i_gyro_cov: 0.0
      i_gyro_freq: 400
      i_mag_cov: 0.0
      i_max_batch_reports: 10
      i_message_type: IMU
      i_rot_cov: -1.0
      i_sync_method: LINEAR_INTERPOLATE_ACCEL
      i_update_ros_base_time_on_ros_msg: false
    rgb:
      i_add_exposure_offset: false
      i_board_socket_id: 0
      i_calibration_file: ''
      i_disable_node: false
      i_enable_feature_tracker: false
      i_enable_lazy_publisher: false #true
      i_enable_nn: false
      i_enable_preview: false
      i_exposure_offset: 0
      i_fps: 20.0
      i_fsync_continuous: false
      i_fsync_trigger: false
      i_get_base_device_timestamp: false
      i_height: 432 #720
      i_interleaved: false
      i_isp_den: 5 #3 #3 valid if i_output_isp: true
      i_isp_num: 2 #2 valid if i_output_isp: true
      i_keep_preview_aspect_ratio: true
      i_low_bandwidth: true #false
      i_low_bandwidth_quality: 20
      i_max_q_size: 30
      # i_width: 1280 #valid if i_output_isp: false
      # i_height: 720 #valid if i_output_isp: false
      # i_interleaved: false
      # scaling 1920x1080 1:3 to 640x360
      # https://docs-beta.luxonis.com/develop/ros/depthai-ros-driver#Available%20sensors%20and%20their%20resolutions%3A
      # IMX378, 1080P is 1920x1080, i_isp_den=3 and i_isp_num=2 will give 1280x720 (/16=)
      i_output_isp: true
      i_preview_height: 300
      i_preview_size: 300
      i_preview_width: 300
      i_publish_topic: true
      i_resolution: 1080P
      i_reverse_stereo_socket_order: false
      i_sensor_img_orientation: AUTO
      i_set_isp3a_fps: false
      i_set_isp_scale: true
      i_simulate_from_topic: false
      i_simulated_topic_name: ''
      i_update_ros_base_time_on_ros_msg: false
      i_width: 768 #1280
      r_exposure: 20000
      r_focus: 1
      r_iso: 800
      r_set_man_exposure: false
      r_set_man_focus: false
      r_set_man_whitebalance: false
      r_whitebalance: 3300
    use_sim_time: false

You can create your own config file: /var/snap/husarion-depthai/common/camera-config-<MY_NAME>.yaml:

sudo cp \
/var/snap/husarion-depthai/camera-config-default.yaml \
/var/snap/husarion-depthai/camera-config-myconfig.yaml

Modify the content of the camera-config-myconfig.yaml file, eg:

sudo vim /var/snap/depthai-camera/common/camera-config-myconfig.yaml

And set the new path to the config file:

sudo snap set depthai-camera driver.camera-params=myconfig

Setup FFMPEG Params

The default values for ffmpeg-image-transport are:

$ sudo snap set husarion-depthai driver.ffmpeg-config=default

The default config is get from: /var/snap/husarion-depthai/common/ffmpeg-config-default.yaml file:

---
/**:
  ros__parameters:
    ffmpeg_image_transport:

      # find the list of available encoders by running `ffmpeg -encoders`
      encoding: libx264
      
      # find the list of available presets by running `ffmpeg -h encoder=libx264`
      preset: ultrafast
      tune: zerolatency

You can create your own config file: /var/snap/husarion-depthai/common/ffmpeg-config-<MY_NAME>.yaml:

sudo cp \
/var/snap/husarion-depthai/ffmpeg-config-default.yaml \
/var/snap/husarion-depthai/ffmpeg-config-myconfig.yaml

Modify the content of the ffmpeg-config-myconfig.yaml file, eg:

sudo vim /var/snap/husarion-depthai/common/ffmpeg-config-myconfig.yaml

And set the new path to the config file:

sudo snap set husarion-depthai driver.ffmpeg-params=myconfig

To check available options run:

ffmpeg -encoders

find the list of available presets by running

ffmpeg -h encoder=$SELECTED_ENCODER`