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add frame drop judgement

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datean
2024-11-26 23:33:54 +08:00
parent f8b2d806e6
commit 16a420dfec
6 changed files with 146 additions and 78 deletions
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orbbec_camera/launch/multi_camera_synced.launch.py
+45 -65
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@@ -5,7 +5,6 @@ from launch_ros.actions import Node
from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
# Include launch files
package_dir = get_package_share_directory("orbbec_camera")
@@ -13,83 +12,64 @@ def generate_launch_description():
config_file_dir = os.path.join(package_dir, "config")
config_file_path = os.path.join(config_file_dir, "camera_params.yaml")
G0_51 = IncludeLaunchDescription(
front_camera = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
),
launch_arguments={
"camera_name": "G0_51",
"usb_port": "2-2",
"device_num": "4",
"sync_mode": "primary",
"enable_left_ir":"true",
"config_file_path": config_file_path,
}.items(),
)
G1_54 = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
),
launch_arguments={
"camera_name": "G1_54",
"usb_port": "2-3.3",
"device_num": "4",
"sync_mode": "secondary_synced",
"enable_left_ir":"true",
"config_file_path": config_file_path,
}.items(),
)
G2_5Y = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
),
launch_arguments={
"camera_name": "G2_5Y",
"usb_port": "2-3.1",
"device_num": "4",
"sync_mode": "secondary_synced",
"enable_left_ir":"true",
"config_file_path": config_file_path,
}.items(),
)
G3_47 = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
),
launch_arguments={
"camera_name": "G3_47",
"camera_name": "front_camera",
"usb_port": "2-1",
"device_num": "4",
"sync_mode": "secondary_synced",
"enable_left_ir":"true",
"sync_mode": "primary",
"config_file_path": config_file_path,
}.items(),
)
multi_save_rgbir_node = Node(
package="orbbec_camera",
executable="multi_save_rgbir_node",
name="multi_save_rgbir_node",
left_camera = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
),
launch_arguments={
"camera_name": "left_camera",
"usb_port": "2-3.2",
"device_num": "4",
"sync_mode": "secondary_synced",
"config_file_path": config_file_path,
}.items(),
)
right_camera = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
),
launch_arguments={
"camera_name": "right_camera",
"usb_port": "2-3.4",
"device_num": "4",
"sync_mode": "secondary_synced",
"config_file_path": config_file_path,
}.items(),
)
rear_camera = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
),
launch_arguments={
"camera_name": "rear_camera",
"usb_port": "2-2",
"device_num": "4",
"sync_mode": "secondary_synced",
"config_file_path": config_file_path,
}.items(),
)
# If you need more cameras, just add more launch_include here, and change the usb_port and device_num
# Launch description
ld = LaunchDescription(
[
GroupAction([multi_save_rgbir_node]),
TimerAction(
period=2.0,
actions=[
TimerAction(period=0.5, actions=[GroupAction([G1_54])]),
TimerAction(period=0.5, actions=[GroupAction([G2_5Y])]),
TimerAction(period=0.5, actions=[GroupAction([G3_47])]),
TimerAction(period=0.5, actions=[GroupAction([G0_51])]),
],
),
# The primary camera should be launched at last
]
[
TimerAction(period=0.5, actions=[GroupAction([left_camera])]),
TimerAction(period=0.5, actions=[GroupAction([right_camera])]),
TimerAction(period=0.5, actions=[GroupAction([rear_camera])]),
TimerAction(period=0.5, actions=[GroupAction([front_camera])]),
]
)
return ld
return ld