Closed mmattamala closed 1 year ago
@JonasFrey96 do you have any further comments on this? Otherwise I'll merge and will propagate the other changes to anymal_rsl
I will review this in the morning. Sorry for the delay.
Everything looks great and builds nicely. Do we have instructions on how to tune the camera parameters and do the color calibration? https://github.com/leggedrobotics/alphasense_rsl/tree/dev/rename-to-raw-image-pipeline/raw_image_pipeline_python/config
Minor issue: Can create a leggedrobotics forge of your pybind11_catkin.git such that everything stays under the same domain.
Awesome, thanks. I'll add more information on the different modules and how to do color calibration, @nivedchebrolu wrote a related issue #3
Regarding pybind, I'll check if there are any issues with the latest changes https://github.com/wxmerkt/pybind11_catkin If everything works as expected, we can make a fork from that one instead (mine was just a temporary fix because the other one was outdated by the time I made the python wrapper)
Ok, some important changes:
There are 3 namespaces now:
Additionally, we can now indicate if the image is mono or color. If it's mono, it will publish to a different namespace instead mono_rect which is useful for visual odometry stuff.
theora
or compressedDepth
: linkThe Readme should have an image or video showing the different stages of processing. Could you add one?
@mauricefallon Yes, good call. I'll update the figure I used to have (see below) to reflect both the new updates to the pipeline as well as what's being published now
@mmattamala There's also a typo in the output_preffix
parameter
Ok, merging this! New changes will be introduced as new PRs
FYI: @YifuTao @rowanborder @nivedchebrolu @mauricefallon @ckassab @JonasFrey96 @plibera
This introduces important changes, as all the names that were
image_proc_cuda*
are changed toraw_image_pipeline*
as it reflects better the fact that the code works independently of the hardware (CPU or GPU)I also propose to change the repo name to
raw_image_pipeline
as it is Alphasense-independent and could be useful for other devices.If we are all fine with this: