oak_d_camera

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This package enables the integration and operation of the OAK-D camera in ROS 2, allowing users to select different sensors and process image data. It provides configurable options for RGB, stereo, depth, disparity, and point cloud publishing, along with visualization in RViz, making it a versatile tool for computer vision applications

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# OAK-D Camera ROS 2 Launcher

![distro](https://img.shields.io/badge/Ubuntu%2024-Nobley%20Numbat-green)
![distro](https://img.shields.io/badge/ROS2-Jazzy-blue)
[![jazzy](https://github.com/jmguerreroh/oak_d_camera/actions/workflows/master.yaml/badge.svg?branch=jazzy)](https://github.com/jmguerreroh/oak_dcamera_ros2/actions/workflows/master.yaml)

This package provides a ROS 2 launch file to initialize and configure the OAK-D camera for RGBD, stereo, and point cloud processing. It includes adjustable camera configurations for transform frames, position, orientation, and depth processing parameters, along with a sample RViz configuration.

## Installation

1. Execute the below command to install the required dependencies:
    ```bash
    sudo wget -qO- https://docs.luxonis.com/install_dependencies.sh | bash
    ```
    Please refer to [Installation documentation](https://docs.luxonis.com/software/depthai/manual-install#supported-platforms) if any issues occur.

2. Clone the repository and add it to your ROS 2 workspace:
    ```bash
    git clone https://github.com/jmguerreroh/oak_d_camera.git
    ```

3. Install dependencies:
    ```bash
    rosdep install --from-paths src --ignore-src -r -y
    ```

4. Build the workspace:
    ```bash
    colcon build --symlink-install
    ```

## Usage

To launch the OAK-D camera node with default parameters:

```bash
ros2 launch oak_d_camera camera.launch.py

```

## Launch Arguments

The launch file provides several configurable arguments:

#### Camera Parameters

- `camera_model`: Model of the camera. Options: `OAK-D`, `OAK-D-LITE`. Default: `OAK-D-LITE`
- `tf_prefix`: TF prefix for camera frames. Default: `oak`
- `base_frame`: Name of the camera's base frame. Default: `oak-d_frame`
- `parent_frame`: Parent frame for the camera's base. Default: `oak-d-base-frame`

#### Camera Position and Orientation

- `cam_pos_x`, `cam_pos_y`, `cam_pos_z`: Camera position relative to the base frame. Default: `0.0`
- `cam_roll`, `cam_pitch`, `cam_yaw`: Camera orientation relative to the base frame. Default: `0.0`

#### Depth Processing Parameters

- `lrcheck`: Enable left-right consistency check. Default: `True`
- `extended`: Enable extended disparity range. Default: `False`
- `subpixel`: Enable subpixel accuracy. Default: `True`
- `confidence`: Set confidence threshold for depth estimation. Default: `200`
- `LRchecktresh`: Set left-right consistency threshold. Default: `5`

Please refer to [StereoDepth documentation](https://docs.luxonis.com/software/depthai-components/nodes/stereo_depth) for more information.

#### Options

- `only_color`: Enable publishing of only Color images. Default: `False`
- `use_rviz`: Launch RViz for visualization. Default: `True`
  `use_depth`: Enable depth image publishing. Default: `True`
- `use_disparity`: Enable disparity image publishing. Default: `True`
- `use_lr_raw`: Enable left and right raw image publishing. Default: `True`
- `use_pointcloud`: Enable point cloud publishing. Default: `True`
- `pc_color`: Use color in the point cloud. Options: `True` for color or `False` for intensity. Default: `True`
- `use_base`: Use the STL base bracket. Default: `True`
  
## Visualizing in RViz

The launch file opens RViz with a pre-configured view. You can modify `rviz/camera.rviz` to customize the visualization.

## About

This project was made by [José Miguel Guerrero], Associate Professor at [Universidad Rey Juan Carlos].

[![Twitter](https://img.shields.io/badge/follow-@jm__guerrero-green.svg)](https://twitter.com/jm__guerrero)

## License

This work is licensed under the terms of the [MIT license](https://opensource.org/license/mit).

[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)

[Universidad Rey Juan Carlos]: https://www.urjc.es/
[José Miguel Guerrero]: https://sites.google.com/view/jmguerrero

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