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add stream format as parmeters

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This commit is contained in:
Joe Dong
2022-06-27 10:26:04 +08:00
parent 06574bfefc
commit 0067d11b3c
8 changed files with 114 additions and 11 deletions
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orbbec_camera/src/ob_camera_node.cpp
+8
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@@ -27,11 +27,13 @@ OBCameraNode::OBCameraNode(rclcpp::Node* node, std::shared_ptr<ob::Device> devic
// FIXME:
is_running_.store(true);
format_[DEPTH] = OB_FORMAT_Y16;
format_str_[DEPTH] = "Y16";
image_format_[OB_STREAM_DEPTH] = CV_16UC1;
encoding_[DEPTH] = sensor_msgs::image_encodings::TYPE_16UC1;
stream_name_[OB_STREAM_DEPTH] = "depth";
unit_step_size_[DEPTH] = sizeof(uint16_t);
format_[INFRA0] = OB_FORMAT_Y16;
format_str_[INFRA0] = "Y16";
image_format_[OB_STREAM_IR] = CV_16UC1;
encoding_[INFRA0] = sensor_msgs::image_encodings::MONO16;
stream_name_[OB_STREAM_IR] = "ir";
@@ -39,11 +41,14 @@ OBCameraNode::OBCameraNode(rclcpp::Node* node, std::shared_ptr<ob::Device> devic
const auto device_pid = device_->getDeviceInfo()->pid();
if (device_pid == FEMTO_PID || device_pid == FEMTO_LIVE_PID || device_pid == FEMTO_OW_PID) {
format_[COLOR] = OB_FORMAT_I420;
format_str_[COLOR] = "I420";
} else if (device_pid == ASTRA_PLUS_PID || device_pid == ASTRA_PLUS_S_PID) {
format_[COLOR] = OB_FORMAT_YUYV;
format_str_[COLOR] = "YUYV";
} else {
// default RGB888
format_[COLOR] = OB_FORMAT_RGB888;
format_str_[COLOR] = "RGB888";
}
image_format_[OB_STREAM_COLOR] = CV_8UC3;
encoding_[COLOR] = sensor_msgs::image_encodings::BGR8;
@@ -203,6 +208,9 @@ void OBCameraNode::getParameters() {
param_name = stream_name_[stream_index.first] + "_optical_frame_id";
setAndGetNodeParameter(optical_frame_id_[stream_index], param_name, default_optical_frame_id);
depth_aligned_frame_id_[stream_index] = stream_name_[OB_STREAM_COLOR] + "_optical_frame";
param_name = stream_name_[stream_index.first] + "_format";
setAndGetNodeParameter(format_str_[stream_index], param_name, format_str_[stream_index]);
format_[stream_index] = OBFormatFromString(format_str_[stream_index]);
}
setAndGetNodeParameter(publish_tf_, "publish_tf", true);
setAndGetNodeParameter(tf_publish_rate_, "tf_publish_rate", 10.0);