[Feature-Request] expose sharpness setting in the ROS driver

luxonis / depthai-ros

Official ROS Driver for DepthAI Sensors.

MIT License

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[Feature-Request] expose sharpness setting in the ROS driver #614

Open abaeyens-imod opened 1 month ago

abaeyens-imod commented 1 month ago

`why`

When currently using the Luxonis cameras with the ROS driver, the default sharpness is set quite high and not adjustable. We would prefer that it can be set lower to avoid the current oversharpening artefacts and the amplified image noise.

`what`

A new parameter sharpness that adjusts the sharpening.
This parameter doesn't have to be dynamic.
We would appreciate seeing this also for Noetic.

`how`

At first sight: this setting is already available in the C++ API, so it's mostly a matter of exposing it in the ROS driver.

also

If possible, also expose the parameters luma_denoise and chroma_denoise.

Serafadam commented 1 month ago

Hi, please check this branch to see if this implementation works for your case. You can find the new parameters here

abaeyens-imod commented 1 month ago

@Serafadam just tested this together with https://github.com/luxonis/depthai-ros/issues/613, it works great and makes the Luxonis cameras considerably more usable for VSLAM. Thank you for addressing this swiftly. Two nits:

i_set_chroma_denoise works well for the RGB camera, but I'm not sure what it's supposed to do for the mono cameras.
the new parameters don't show up in rqt_reconfigure yet, I assume related to that they aren't yet listed in depthai_ros_driver/cfg/parameters.cfg.

Serafadam commented 4 weeks ago

Hi, please check the newest version, params have been changed to runtime. Regarding chroma denoise, I think it applies mostly in the cases where stereo pair is color, like OAK-D SR

abaeyens-imod commented 3 weeks ago

Tested, the dynamic parameters work well. For evaluating denoise and sharpening settings it's quite useful. (I now notice I didn't ask for dynamic parameters, so normal that I didn't see them in rqt_reconfigure :see_no_evil:)

Concerning the allowable range, in the Luxonis API doc mentions that the range for setLumaDenoise is 0..4 while rqt_reconfigure only allows 1..4 (screenshot below). That feels contradictory, is this desired? Apart from that, good to merge as far as I'm concerned.

Serafadam commented 3 weeks ago

Hi, thanks for noticing, the ranges should be updated in the latest commit