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update SDK to v1.6.1

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This commit is contained in:
Joe Dong
2023-07-05 15:12:30 +08:00
parent 15ca0e347b
commit 05654eb0c7
42 changed files with 2794 additions and 5270 deletions
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orbbec_camera/src/ob_camera_node.cpp
+12 -9
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@@ -114,7 +114,10 @@ void OBCameraNode::setupDevices() {
sync_config.rgbTriggerSignalInDelay = rgb_trigger_signal_in_delay_;
sync_config.deviceTriggerSignalOutDelay = device_trigger_signal_out_delay_;
device_->setSyncConfig(sync_config);
// TODO: add set signal trigger out mode
if (device_->isPropertySupported(OB_PROP_SYNC_SIGNAL_TRIGGER_OUT_BOOL,
OB_PERMISSION_READ_WRITE)) {
device_->setBoolProperty(OB_PROP_SYNC_SIGNAL_TRIGGER_OUT_BOOL, sync_signal_trigger_out_);
}
}
if (info->pid() == GEMINI2_PID) {
auto default_precision_level = device_->getIntProperty(OB_PROP_DEPTH_PRECISION_LEVEL_INT);
@@ -243,10 +246,10 @@ void OBCameraNode::startIMU() {
auto accel_rate = sampleRateFromString(imu_rate_[stream_index]);
auto accel_range = fullAccelScaleRangeFromString(imu_range_[stream_index]);
if (profile->fullScaleRange() == accel_range && profile->sampleRate() == accel_rate) {
sensors_[stream_index]->start(profile,
[this, stream_index](const std::shared_ptr<ob::Frame>& frame) {
onNewIMUFrameCallback(frame, stream_index);
});
sensors_[stream_index]->start(
profile, [this, stream_index](const std::shared_ptr<ob::Frame>& frame) {
onNewIMUFrameCallback(frame, stream_index);
});
imu_started_[stream_index] = true;
RCLCPP_INFO_STREAM(logger_, "start accel stream with "
<< magic_enum::enum_name(accel_range) << " range and "
@@ -257,10 +260,10 @@ void OBCameraNode::startIMU() {
auto gyro_rate = sampleRateFromString(imu_rate_[stream_index]);
auto gyro_range = fullGyroScaleRangeFromString(imu_range_[stream_index]);
if (profile->fullScaleRange() == gyro_range && profile->sampleRate() == gyro_rate) {
sensors_[stream_index]->start(profile,
[this, stream_index](const std::shared_ptr<ob::Frame>& frame) {
onNewIMUFrameCallback(frame, stream_index);
});
sensors_[stream_index]->start(
profile, [this, stream_index](const std::shared_ptr<ob::Frame>& frame) {
onNewIMUFrameCallback(frame, stream_index);
});
RCLCPP_INFO_STREAM(logger_, "start gyro stream with "
<< magic_enum::enum_name(gyro_range) << " range and "
<< magic_enum::enum_name(gyro_rate) << " rate");