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Merge branch 'feat/preset-version-support' into v2/develop

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slz
2026-09-03 17:38:46 +08:00
parent 99e86dedce 5fcd5eed85
commit 067eeadfb8
15 changed files with 110 additions and 14 deletions
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orbbec_camera/config/camera_params.yaml
+1
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@@ -6,6 +6,7 @@ enable_point_cloud: false
enable_colored_point_cloud: false
enable_ldp: false
device_preset: "Default"
device_preset_version: ""
enable_laser: true
# enable_laser: true
orbbec_camera/config/camera_secondary_params.yaml
+1
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@@ -6,6 +6,7 @@ enable_point_cloud: false
enable_colored_point_cloud: false
enable_ldp: false
device_preset: "Default"
device_preset_version: ""
enable_laser: true
# enable_laser: true
orbbec_camera/examples/benchmark/gemini_330_series_benchmark.launch.py
+2 -1
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@@ -43,7 +43,7 @@ def load_parameters(context, args):
if config_file_path:
yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params)
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'device_preset_version'}
return {
key: (value if key in skip_convert else convert_value(value))
for key, value in default_params.items()
@@ -223,6 +223,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_laser', default_value='true'),
DeclareLaunchArgument('depth_precision', default_value=''),
DeclareLaunchArgument('device_preset', default_value='Default'),
DeclareLaunchArgument('device_preset_version', default_value=''),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_sync_host_time', default_value='false'),
orbbec_camera/examples/gmsl_camera/gemini_330_gmsl.launch.py
+2 -1
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@@ -43,7 +43,7 @@ def load_parameters(context, args):
if config_file_path:
yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params)
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'device_preset_version'}
return {
key: (value if key in skip_convert else convert_value(value))
for key, value in default_params.items()
@@ -223,6 +223,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_laser', default_value='true'),
DeclareLaunchArgument('depth_precision', default_value=''),
DeclareLaunchArgument('device_preset', default_value='Default'),
DeclareLaunchArgument('device_preset_version', default_value=''),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_sync_host_time', default_value='false'),
orbbec_camera/examples/multi_camera_synced_verification_tool/gemini_330_series_synced_verify.launch.py
+2 -1
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@@ -43,7 +43,7 @@ def load_parameters(context, args):
if config_file_path:
yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params)
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'device_preset_version'}
return {
key: (value if key in skip_convert else convert_value(value))
for key, value in default_params.items()
@@ -223,6 +223,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_laser', default_value='true'),
DeclareLaunchArgument('depth_precision', default_value=''),
DeclareLaunchArgument('device_preset', default_value='Default'),
DeclareLaunchArgument('device_preset_version', default_value=''),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_sync_host_time', default_value='false'),
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1
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@@ -1022,6 +1022,7 @@ class OBCameraNode {
int left_ir_decimation_factor_ = 1;
int right_ir_decimation_factor_ = 1;
std::string device_preset_;
std::string device_preset_version_;
// filter switch
bool enable_decimation_filter_ = false;
bool enable_hdr_merge_ = false;
orbbec_camera/launch/gemini_330_series.launch.py
+2 -1
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@@ -49,7 +49,7 @@ def load_parameters(context, args):
yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params)
skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'bag_record_filename', 'bag_filename',
'enhanced_depth_model_path', 'depth_colorizer_mode'}
'enhanced_depth_model_path', 'depth_colorizer_mode', 'device_preset_version'}
result = {}
for key, value in default_params.items():
@@ -287,6 +287,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_laser', default_value='true'),
DeclareLaunchArgument('depth_precision', default_value=''),
DeclareLaunchArgument('device_preset', default_value='Default'),
DeclareLaunchArgument('device_preset_version', default_value=''),
DeclareLaunchArgument('color_preset', default_value='Default'),# color preset name reported by the device
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
orbbec_camera/launch/gemini_330_series_low_cpu.launch.py
+2 -1
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@@ -49,7 +49,7 @@ def load_parameters(context, args):
yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params)
skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'bag_record_filename', 'bag_filename',
'enhanced_depth_model_path', 'depth_colorizer_mode'}
'enhanced_depth_model_path', 'depth_colorizer_mode', 'device_preset_version'}
result = {}
for key, value in default_params.items():
@@ -282,6 +282,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_laser', default_value='true'),
DeclareLaunchArgument('depth_precision', default_value=''),
DeclareLaunchArgument('device_preset', default_value='Default'),
DeclareLaunchArgument('device_preset_version', default_value=''),
DeclareLaunchArgument('color_preset', default_value='Default'),# color preset name reported by the device
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
orbbec_camera/launch/gemini_intra_process_demo_launch.py
+2 -1
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@@ -43,7 +43,7 @@ def load_parameters(context, args):
yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params)
skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'bag_record_filename', 'bag_filename',
'depth_colorizer_mode'}
'depth_colorizer_mode', 'device_preset_version'}
return {
key: (value if key in skip_convert else convert_value(value))
for key, value in default_params.items()
@@ -171,6 +171,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_laser', default_value='true'),
DeclareLaunchArgument('depth_precision', default_value=''),
DeclareLaunchArgument('device_preset', default_value='Default'),
DeclareLaunchArgument('device_preset_version', default_value=''),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
orbbec_camera/src/ob_camera_node.cpp
+49 -5
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@@ -922,8 +922,11 @@ void OBCameraNode::clean() noexcept {
}
void OBCameraNode::setupDevices() {
if (!depth_work_mode_.empty() &&
device_->isPropertySupported(OB_STRUCT_CURRENT_DEPTH_ALG_MODE, OB_PERMISSION_READ_WRITE)) {
if (is_playback_device_ && (!depth_work_mode_.empty() || !device_preset_.empty())) {
RCLCPP_INFO_STREAM(logger_, "Skip device preset selection during bag playback");
} else if (!depth_work_mode_.empty() &&
device_->isPropertySupported(OB_STRUCT_CURRENT_DEPTH_ALG_MODE,
OB_PERMISSION_READ_WRITE)) {
auto depthModeList = device_->getDepthWorkModeList();
for (uint32_t i = 0; i < depthModeList->getCount(); i++) {
RCLCPP_INFO_STREAM(logger_, "depthModeList[" << i << "]: " << (*depthModeList)[i].name);
@@ -935,10 +938,48 @@ void OBCameraNode::setupDevices() {
RCLCPP_DEBUG_STREAM(logger_, "Available presets:");
auto preset_list = device_->getAvailablePresetList();
for (uint32_t i = 0; i < preset_list->getCount(); i++) {
RCLCPP_DEBUG_STREAM(logger_, "Preset " << i << ": " << preset_list->getName(i));
std::string version;
try {
const char *version_value = preset_list->getDepthWorkModeVersion(i);
version = version_value == nullptr ? "" : version_value;
} catch (...) {
// Older firmware can enumerate presets but may not report per-preset versions.
}
RCLCPP_DEBUG_STREAM(logger_, "Preset " << i << ": " << preset_list->getName(i)
<< ", depth work mode version: "
<< (version.empty() ? "not available" : version));
}
if (device_preset_version_.empty()) {
device_->loadPreset(device_preset_.c_str());
} else {
device_->loadPreset(device_preset_.c_str(), device_preset_version_.c_str());
}
std::string current_preset = device_preset_;
std::string current_version;
try {
const char *preset_name = device_->getCurrentPresetName();
current_preset = preset_name == nullptr ? device_preset_ : preset_name;
} catch (...) {
// Loading succeeded; failure to read back the name should not mark the load as failed.
}
try {
const char *version = device_->getCurrentPresetDepthWorkModeVersion();
current_version = version == nullptr ? "" : version;
} catch (...) {
// Older firmware does not report the current preset's depth work mode version.
}
RCLCPP_INFO_STREAM(logger_,
"Loaded device preset: "
<< current_preset << ", depth work mode version: "
<< (current_version.empty() ? "not available" : current_version));
if (!device_preset_version_.empty() && !current_version.empty() &&
current_version != device_preset_version_) {
RCLCPP_WARN_STREAM(logger_, "Requested device preset depth work mode version "
<< device_preset_version_ << ", but device reports "
<< current_version);
}
TRY_EXECUTE_BLOCK(device_->loadPreset(device_preset_.c_str()));
RCLCPP_INFO_STREAM(logger_, "Loaded device preset: " << device_->getCurrentPresetName());
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(
logger_, "Failed to load device preset: " << orbbec_camera::formatObErrorWithStatus(e));
@@ -947,6 +988,8 @@ void OBCameraNode::setupDevices() {
} catch (...) {
RCLCPP_ERROR_STREAM(logger_, "Failed to load device preset");
}
} else if (!device_preset_version_.empty()) {
RCLCPP_WARN_STREAM(logger_, "Ignore device_preset_version because device_preset is empty");
}
if (!preset_resolution_config_.empty()) {
@@ -4738,6 +4781,7 @@ void OBCameraNode::getParameters() {
} else {
setAndGetNodeParameter<std::string>(device_preset_, "device_preset", "");
}
setAndGetNodeParameter<std::string>(device_preset_version_, "device_preset_version", "");
setAndGetNodeParameter<bool>(enable_decimation_filter_, "enable_decimation_filter", false);
setAndGetNodeParameter<bool>(enable_hdr_merge_, "enable_hdr_merge", false);
setAndGetNodeParameter<bool>(enable_sequence_id_filter_, "enable_sequence_id_filter", false);
orbbec_camera/src/ros_service.cpp
+15
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@@ -1939,6 +1939,21 @@ void OBCameraNode::getDeviceConfigCallback(const std::shared_ptr<GetDeviceConfig
RCLCPP_DEBUG_STREAM(logger_, "Failed to get current preset");
}
try {
const char* version = device_->getCurrentPresetDepthWorkModeVersion();
if (version != nullptr) {
response->preset_depth_work_mode_version = version;
}
} catch (const ob::Error& e) {
RCLCPP_DEBUG_STREAM(logger_, "Failed to get current preset depth work mode version: "
<< orbbec_camera::formatObErrorWithStatus(e));
} catch (const std::exception& e) {
RCLCPP_DEBUG_STREAM(logger_,
"Failed to get current preset depth work mode version: " << e.what());
} catch (...) {
RCLCPP_DEBUG_STREAM(logger_, "Failed to get current preset depth work mode version");
}
try {
if (device_->isColorPresetSupported()) {
const char* color_preset_name = device_->getCurrentColorPresetName();
orbbec_camera/tools/firmware_update_tool.cpp
+9 -1
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@@ -423,7 +423,15 @@ void logCurrentPresetList(const rclcpp::Logger &logger, const std::shared_ptr<ob
const uint32_t count = preset_list->getCount();
RCLCPP_INFO(logger, "[%s] Current preset count: %u", stage, count);
for (uint32_t i = 0; i < count; ++i) {
RCLCPP_INFO(logger, "[%s] Preset[%u]: %s", stage, i, preset_list->getName(i));
const char *version = nullptr;
try {
version = preset_list->getDepthWorkModeVersion(i);
} catch (...) {
// Older firmware can enumerate presets without exposing version information.
}
RCLCPP_INFO(logger, "[%s] Preset[%u]: %s, depth work mode version: %s", stage, i,
preset_list->getName(i),
version == nullptr || version[0] == '\0' ? "not available" : version);
}
} catch (const ob::Error &e) {
RCLCPP_WARN(logger, "[%s] Failed to query preset list: %s", stage,
orbbec_camera/tools/list_camera_profile.cpp
+10 -1
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@@ -205,7 +205,16 @@ void printPreset(const std::shared_ptr<ob::Device>& device) {
std::cout << "Preset list:" << std::endl;
for (uint32_t i = 0; i < preset_list->getCount(); i++) {
auto name = preset_list->getName(i);
std::cout << "Preset list[" << i << "]: " << name << std::endl;
std::string version;
try {
const char* version_value = preset_list->getDepthWorkModeVersion(i);
version = version_value == nullptr ? "" : version_value;
} catch (...) {
// Older firmware can enumerate presets without exposing version information.
}
std::cout << "Preset list[" << i << "]: " << name
<< ", depth work mode version: " << (version.empty() ? "not available" : version)
<< std::endl;
}
}
orbbec_camera/tools/list_devices_node.cpp
+9 -1
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@@ -181,7 +181,15 @@ void printPresetInfo(const std::shared_ptr<ob::Device> &device) {
for (uint32_t i = 0; i < preset_count; ++i) {
const char *preset_name = preset_list->getName(i);
if (preset_name != nullptr && preset_name[0] != '\0') {
RCLCPP_INFO_STREAM(logger, " - " << preset_name);
std::string version;
try {
const char *version_value = preset_list->getDepthWorkModeVersion(i);
version = version_value == nullptr ? "" : version_value;
} catch (...) {
// Older firmware can enumerate presets without exposing version information.
}
RCLCPP_INFO_STREAM(logger, " - " << preset_name << " (depth work mode version: "
<< (version.empty() ? "not available" : version) << ")");
}
}
orbbec_camera_msgs/srv/GetDeviceConfig.srv
+3
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@@ -4,7 +4,10 @@ string schema_version
# Effective device configuration state that is not provided by existing device/version services.
string device_preset
# Legacy preset package version reported by the device extension information.
string preset_version
# Current preset's target depth work mode version. Empty when unsupported or unavailable.
string preset_depth_work_mode_version
string color_preset
string depth_precision
string disparity_to_depth_mode