turn subpixel off with low bandwidth, disable warnings

luxonis · Dec 3, 2024 · f51cfeb · f51cfeb
1 parent 42846f8
commit f51cfeb
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Showing 2 changed files with 6 additions and 3 deletions.
diff --git a/depthai_ros_driver/CMakeLists.txt b/depthai_ros_driver/CMakeLists.txt
@@ -5,7 +5,7 @@ set(CMAKE_BUILD_SHARED_LIBS ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+    add_compile_options(-Wall -Wextra -Wpedantic -Wno-deprecated-declarations -Wno-maybe-uninitialized)
 endif()
 # Default to C99
 if(NOT CMAKE_C_STANDARD)

diff --git a/depthai_ros_driver/src/param_handlers/stereo_param_handler.cpp b/depthai_ros_driver/src/param_handlers/stereo_param_handler.cpp
@@ -54,7 +54,7 @@ void StereoParamHandler::updateSocketsFromParams(dai::CameraBoardSocket& left, d
 
 void StereoParamHandler::declareParams(std::shared_ptr<dai::node::StereoDepth> stereo) {
     declareAndLogParam<int>("i_max_q_size", 30);
-    declareAndLogParam<bool>("i_low_bandwidth", false);
+    bool lowBandwidth = declareAndLogParam<bool>("i_low_bandwidth", false);
     declareAndLogParam<int>("i_low_bandwidth_quality", 50);
     declareAndLogParam<int>("i_low_bandwidth_profile", 4);
     declareAndLogParam<int>("i_low_bandwidth_frame_freq", 30);
@@ -136,10 +136,13 @@ void StereoParamHandler::declareParams(std::shared_ptr<dai::node::StereoDepth> s
     stereo->initialConfig.setLeftRightCheckThreshold(declareAndLogParam<int>("i_lrc_threshold", 10));
     stereo->initialConfig.setMedianFilter(static_cast<dai::MedianFilter>(declareAndLogParam<int>("i_depth_filter_size", 5)));
     stereo->initialConfig.setConfidenceThreshold(declareAndLogParam<int>("i_stereo_conf_threshold", 240));
-    if(declareAndLogParam<bool>("i_subpixel", true)) {
+    if(declareAndLogParam<bool>("i_subpixel", true) && !lowBandwidth) {
         stereo->initialConfig.setSubpixel(true);
         stereo->initialConfig.setSubpixelFractionalBits(declareAndLogParam<int>("i_subpixel_fractional_bits", 3));
     }
+    else if(lowBandwidth) {
+        RCLCPP_INFO(getROSNode()->get_logger(), "Subpixel disabled due to low bandwidth mode");
+    }
     stereo->setRectifyEdgeFillColor(declareAndLogParam<int>("i_rectify_edge_fill_color", 0));
     if(declareAndLogParam<bool>("i_enable_alpha_scaling", false)) {
         stereo->setAlphaScaling(declareAndLogParam<float>("i_alpha_scaling", 0.0));