Niryo_robot_vision
======================================

This package is the one dealing with all vision related stuff.


Vision Node
--------------------------
The ROS Node is made of several services to deal with video streaming, object detection...
The node is working exactly the same way if you chose to use it on simulation or reality.

This node can be launched locally in a standalone mode via the command: ::

 roslaunch niryo_robot_vision vision_node_local.launch

Configuration (Frame Per Second, Camera Port, Video Resolution) can be
edited in the config file:

 - For "standard" Node: *niryo_robot_vision/config/video_server_setup.yaml*
 - For local Node: *niryo_robot_vision/config/video_server_setup_local.yaml*

The namespace used is: |namespace_emphasize|

Parameters - Vision
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
.. list-table:: Vision Package's Parameters
   :header-rows: 1
   :widths: auto
   :stub-columns: 0
   :align: center

   *  -  Name
      -  Description
   *  -  ``frame_rate``
      -  Stream frame rate
   *  -  ``simulation_mode``
      -  | Set to true if you are using the gazebo simulation.
         | It will adapt how the node get its video stream
   *  -  ``debug_compression_quality``
      -  Debug Stream compression quality
   *  -  ``stream_compression_quality``
      -  Stream compression quality
   *  -  ``subsampling``
      -  Stream subsampling factor


Publisher - Vision
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

.. list-table:: Vision Package's Publishers
   :header-rows: 1
   :widths: auto
   :stub-columns: 0
   :align: center

   *  -  Name
      -  Message Type
      -  Description
   *  -  ``compressed_video_stream``
      -  :sensor_msgs:`CompressedImage`
      -  Publish the last image read as a compressed image

Services - Vision
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

.. list-table:: Programs manager Services
   :header-rows: 1
   :widths: auto
   :stub-columns: 0
   :align: center

   *  -  Name
      -  Message Type
      -  Description
   *  -  ``debug_colors``
      -  :ref:`DebugColorDetection<source/ros/niryo_robot_vision:DebugColorDetection (Service)>`
      -  Return an annotated image to emphasize what happened with color detection
   *  -  ``debug_markers``
      -  :ref:`DebugMarkers<source/ros/niryo_robot_vision:DebugMarkers (Service)>`
      -  Return an annotated image to emphasize what happened with markers detection
   *  -  ``obj_detection_rel``
      -  :ref:`ObjDetection<source/ros/niryo_robot_vision:ObjDetection (Service)>`
      -  Object detection service
   *  -  ``start_stop_video_streaming``
      -  :ref:`source/ros/niryo_robot_msgs:SetBool`
      -  Start or Stop video streaming
   *  -  ``take_picture``
      -  :ref:`TakePicture<source/ros/niryo_robot_vision:TakePicture (Service)>`
      -  Save a picture in the specified folder


All these services are available as soon as the node is started.


Dependencies - Vision
^^^^^^^^^^^^^^^^^^^^^^^^^^^
* :doc:`niryo_robot_msgs`
* :msgs_index:`sensor_msgs`


Services files - Vision
--------------------------

DebugColorDetection (Service)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

.. literalinclude:: ../../../niryo_robot_vision/srv/DebugColorDetection.srv
   :language: rostype


DebugMarkers (Service)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

.. literalinclude:: ../../../niryo_robot_vision/srv/DebugMarkers.srv
   :language: rostype


ObjDetection (Service)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

.. literalinclude:: ../../../niryo_robot_vision/srv/ObjDetection.srv
   :language: rostype


TakePicture (Service)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

.. literalinclude:: ../../../niryo_robot_vision/srv/TakePicture.srv
   :language: rostype



.. |namespace| replace:: /niryo_robot_vision/
.. |namespace_emphasize| replace:: ``/niryo_robot_vision/``
.. |package_path| replace:: ../../../niryo_robot_vision