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Merge branch 'customer/sdk_2.8.2_338' into merge/sdk_2.8.2

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ob-yalian
2026-04-15 09:19:17 +08:00
parent ebb5d738b3 5b808b19a7
commit 1b4658e3a6
10 changed files with 379 additions and 31 deletions
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orbbec_camera/config/OrbbecSDKConfig_v2.0.xml
+329
View File
@@ -1756,7 +1756,336 @@
<Format>Y8</Format> <Format>Y8</Format>
</RightIR> </RightIR>
</Gemini338> </Gemini338>
<Gemini338Lg>
<!-- Default backend for Linux UVC devices. If the LinuxUVCBackend is set to "Auto,"
this item will determine the device's speciality. Optional values: V4L2, LibUVC -->
<LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>
<Misc>
<GlobalTimestampFitterEnable>true</GlobalTimestampFitterEnable>
<!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
minimum value: 100, it is recommended not to be greater than 1000 -->
<GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
<!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
<GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
</Misc>
<DepthPostProcessing>
<HardwareNoiseRemoveFilter>true</HardwareNoiseRemoveFilter>
<SoftwareNoiseRemoveFilter>false</SoftwareNoiseRemoveFilter>
</DepthPostProcessing>
<!-- Whether to enable heartbeat by default -->
<DefaultHeartBeat>0</DefaultHeartBeat>
<!-- Whether to enable firmware upgrade foolproof by default, only internal version
supports -->
<FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
<!-- Depth Filter Params -->
<!--
<DepthFilterDDOConfig>./Gemini2_v1.0.json</DepthFilterDDOConfig>
-->
<Depth>
<!-- Number of retries for open stream failures, 0 means no retries -->
<StreamFailedRetry>1</StreamFailedRetry>
<!-- Open flow waits for the timeout period of the first frame of data, after which
the open flow will fail -->
<MaxStartStreamDelayMs>3000</MaxStartStreamDelayMs>
<!-- The maximum frame interval time, if this value is exceeded, it will be judged
that the stream is interrupted -->
<MaxFrameIntervalMs>3000</MaxFrameIntervalMs>
<!-- The resolution width is enabled by default, int type -->
<Width>848</Width>
<!-- High resolution is enabled by default, int type -->
<Height>480</Height>
<!-- The frame rate of the resolution enabled by default, int type -->
<FPS>30</FPS>
<Format>Y16</Format>
</Depth>
<Color>
<!-- Number of retries for open stream failures, 0 means no retries -->
<StreamFailedRetry>1</StreamFailedRetry>
<!-- Open flow waits for the timeout period of the first frame of data, after which
the open flow will fail -->
<MaxStartStreamDelayMs>3000</MaxStartStreamDelayMs>
<!-- The maximum frame interval time, if this value is exceeded, it will be judged
that the stream is interrupted -->
<MaxFrameIntervalMs>3000</MaxFrameIntervalMs>
<!-- The resolution width is enabled by default, int type -->
<Width>1280</Width>
<!-- High resolution is enabled by default, int type -->
<Height>720</Height>
<!-- The frame rate of the resolution enabled by default, int type -->
<FPS>30</FPS>
<Format>MJPG</Format>
</Color>
<LeftIR>
<!-- The resolution width is enabled by default, int type -->
<Width>848</Width>
<!-- High resolution is enabled by default, int type -->
<Height>480</Height>
<!-- The frame rate of the resolution enabled by default, int type -->
<FPS>30</FPS>
<Format>Y8</Format>
</LeftIR>
<RightIR>
<!-- The resolution width is enabled by default, int type -->
<Width>848</Width>
<!-- High resolution is enabled by default, int type -->
<Height>480</Height>
<!-- The frame rate of the resolution enabled by default, int type -->
<FPS>30</FPS>
<Format>Y8</Format>
</RightIR>
</Gemini338Lg>
<!-- Gemini338Le config -->
<Gemini338Le>
<!-- Whether to enable heartbeat by default -->
<DefaultHeartBeat>0</DefaultHeartBeat>
<!-- Whether to enable firmware upgrade foolproof by default, only internal version
supports -->
<FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
<Misc>
<GlobalTimestampFitterEnable>true</GlobalTimestampFitterEnable>
<!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
minimum value: 100, it is recommended not to be greater than 1000 -->
<GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
<!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
<GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
</Misc>
<DepthPostProcessing>
<HardwareNoiseRemoveFilter>false</HardwareNoiseRemoveFilter>
<SoftwareNoiseRemoveFilter>true</SoftwareNoiseRemoveFilter>
</DepthPostProcessing>
<!-- Whether to enable heartbeat by default -->
<DefaultHeartBeat>0</DefaultHeartBeat>
<!-- Whether to enable firmware upgrade foolproof by default, only internal version
supports -->
<FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
<!-- Depth Filter Params -->
<!--
<DepthFilterDDOConfig>./Gemini2_v1.0.json</DepthFilterDDOConfig>
-->
<Depth>
<!-- Number of retries for open stream failures, 0 means no retries -->
<StreamFailedRetry>0</StreamFailedRetry>
<!-- Open flow waits for the timeout period of the first frame of data, after which
the open flow will fail -->
<MaxStartStreamDelayMs>2000</MaxStartStreamDelayMs>
<!-- The maximum frame interval time, if this value is exceeded, it will be judged
that the stream is interrupted -->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!-- The resolution width is enabled by default, int type -->
<Width>640</Width>
<!-- High resolution is enabled by default, int type -->
<Height>400</Height>
<!-- The frame rate of the resolution enabled by default, int type -->
<FPS>15</FPS>
<Format>Y16</Format>
</Depth>
<Color>
<!-- Number of retries for open stream failures, 0 means no retries -->
<StreamFailedRetry>0</StreamFailedRetry>
<!-- Open flow waits for the timeout period of the first frame of data, after which
the open flow will fail -->
<MaxStartStreamDelayMs>2000</MaxStartStreamDelayMs>
<!-- The maximum frame interval time, if this value is exceeded, it will be judged
that the stream is interrupted -->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!-- The resolution width is enabled by default, int type -->
<Width>640</Width>
<!-- High resolution is enabled by default, int type -->
<Height>400</Height>
<!-- The frame rate of the resolution enabled by default, int type -->
<FPS>15</FPS>
<Format>MJPG</Format>
</Color>
<LeftIR>
<!-- The resolution width is enabled by default, int type -->
<Width>640</Width>
<!-- High resolution is enabled by default, int type -->
<Height>400</Height>
<!-- The frame rate of the resolution enabled by default, int type -->
<FPS>15</FPS>
<Format>Y8</Format>
</LeftIR>
<RightIR>
<!-- The resolution width is enabled by default, int type -->
<Width>640</Width>
<!-- High resolution is enabled by default, int type -->
<Height>400</Height>
<!-- The frame rate of the resolution enabled by default, int type -->
<FPS>15</FPS>
<Format>Y8</Format>
</RightIR>
</Gemini338Le>
<Gemini338L>
<!-- Default backend for Linux UVC devices. If the LinuxUVCBackend is set to "Auto,"
this item will determine the device's speciality. Optional values: V4L2, LibUVC -->
<LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>
<Misc>
<GlobalTimestampFitterEnable>true</GlobalTimestampFitterEnable>
<!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
minimum value: 100, it is recommended not to be greater than 1000 -->
<GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
<!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
<GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
</Misc>
<DepthPostProcessing>
<HardwareNoiseRemoveFilter>true</HardwareNoiseRemoveFilter>
<SoftwareNoiseRemoveFilter>false</SoftwareNoiseRemoveFilter>
</DepthPostProcessing>
<!-- Whether to enable heartbeat by default -->
<DefaultHeartBeat>0</DefaultHeartBeat>
<!-- Whether to enable firmware upgrade foolproof by default, only internal version
supports -->
<FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
<!-- Depth Filter Params -->
<!--
<DepthFilterDDOConfig>./Gemini2_v1.0.json</DepthFilterDDOConfig>
-->
<Depth>
<!-- Number of retries for open stream failures, 0 means no retries -->
<StreamFailedRetry>0</StreamFailedRetry>
<!-- Open flow waits for the timeout period of the first frame of data, after which
the open flow will fail -->
<MaxStartStreamDelayMs>2000</MaxStartStreamDelayMs>
<!-- The maximum frame interval time, if this value is exceeded, it will be judged
that the stream is interrupted -->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!-- The resolution width is enabled by default, int type -->
<Width>848</Width>
<!-- High resolution is enabled by default, int type -->
<Height>480</Height>
<!-- The frame rate of the resolution enabled by default, int type -->
<FPS>30</FPS>
<Format>Y16</Format>
</Depth>
<Color>
<!-- Number of retries for open stream failures, 0 means no retries -->
<StreamFailedRetry>0</StreamFailedRetry>
<!-- Open flow waits for the timeout period of the first frame of data, after which
the open flow will fail -->
<MaxStartStreamDelayMs>2000</MaxStartStreamDelayMs>
<!-- The maximum frame interval time, if this value is exceeded, it will be judged
that the stream is interrupted -->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!-- The resolution width is enabled by default, int type -->
<Width>1280</Width>
<!-- High resolution is enabled by default, int type -->
<Height>720</Height>
<!-- The frame rate of the resolution enabled by default, int type -->
<FPS>30</FPS>
<Format>MJPG</Format>
</Color>
<LeftIR>
<!-- The resolution width is enabled by default, int type -->
<Width>848</Width>
<!-- High resolution is enabled by default, int type -->
<Height>480</Height>
<!-- The frame rate of the resolution enabled by default, int type -->
<FPS>30</FPS>
<Format>Y8</Format>
</LeftIR>
<RightIR>
<!-- The resolution width is enabled by default, int type -->
<Width>848</Width>
<!-- High resolution is enabled by default, int type -->
<Height>480</Height>
<!-- The frame rate of the resolution enabled by default, int type -->
<FPS>30</FPS>
<Format>Y8</Format>
</RightIR>
</Gemini338L>
<Gemini331L>
<!-- Default backend for Linux UVC devices. If the LinuxUVCBackend is set to "Auto,"
this item will determine the device's speciality. Optional values: V4L2, LibUVC -->
<LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>
<Misc>
<GlobalTimestampFitterEnable>true</GlobalTimestampFitterEnable>
<!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
minimum value: 100, it is recommended not to be greater than 1000 -->
<GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
<!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
<GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
</Misc>
<DepthPostProcessing>
<HardwareNoiseRemoveFilter>true</HardwareNoiseRemoveFilter>
<SoftwareNoiseRemoveFilter>false</SoftwareNoiseRemoveFilter>
</DepthPostProcessing>
<!-- Whether to enable heartbeat by default -->
<DefaultHeartBeat>0</DefaultHeartBeat>
<!-- Whether to enable firmware upgrade foolproof by default, only internal version
supports -->
<FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
<!-- Depth Filter Params -->
<!--
<DepthFilterDDOConfig>./Gemini2_v1.0.json</DepthFilterDDOConfig>
-->
<Depth>
<!-- Number of retries for open stream failures, 0 means no retries -->
<StreamFailedRetry>0</StreamFailedRetry>
<!-- Open flow waits for the timeout period of the first frame of data, after which
the open flow will fail -->
<MaxStartStreamDelayMs>2000</MaxStartStreamDelayMs>
<!-- The maximum frame interval time, if this value is exceeded, it will be judged
that the stream is interrupted -->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!-- The resolution width is enabled by default, int type -->
<Width>848</Width>
<!-- High resolution is enabled by default, int type -->
<Height>480</Height>
<!-- The frame rate of the resolution enabled by default, int type -->
<FPS>30</FPS>
<Format>Y16</Format>
</Depth>
<Color>
<!-- Number of retries for open stream failures, 0 means no retries -->
<StreamFailedRetry>0</StreamFailedRetry>
<!-- Open flow waits for the timeout period of the first frame of data, after which
the open flow will fail -->
<MaxStartStreamDelayMs>2000</MaxStartStreamDelayMs>
<!-- The maximum frame interval time, if this value is exceeded, it will be judged
that the stream is interrupted -->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!-- The resolution width is enabled by default, int type -->
<Width>1280</Width>
<!-- High resolution is enabled by default, int type -->
<Height>720</Height>
<!-- The frame rate of the resolution enabled by default, int type -->
<FPS>30</FPS>
<Format>MJPG</Format>
</Color>
<LeftIR>
<!-- The resolution width is enabled by default, int type -->
<Width>848</Width>
<!-- High resolution is enabled by default, int type -->
<Height>480</Height>
<!-- The frame rate of the resolution enabled by default, int type -->
<FPS>30</FPS>
<Format>Y8</Format>
</LeftIR>
<RightIR>
<!-- The resolution width is enabled by default, int type -->
<Width>848</Width>
<!-- High resolution is enabled by default, int type -->
<Height>480</Height>
<!-- The frame rate of the resolution enabled by default, int type -->
<FPS>30</FPS>
<Format>Y8</Format>
</RightIR>
</Gemini331L>
<!--DaBaiA config--> <!--DaBaiA config-->
<DaBaiA> <DaBaiA>
<!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
orbbec_camera/include/orbbec_camera/constants.h
+9 -5
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@@ -24,7 +24,7 @@
#define OB_ROS_MAJOR_VERSION 2 #define OB_ROS_MAJOR_VERSION 2
#define OB_ROS_MINOR_VERSION 8 #define OB_ROS_MINOR_VERSION 8
#define OB_ROS_PATCH_VERSION 1 #define OB_ROS_PATCH_VERSION 2.1
#ifndef STRINGIFY #ifndef STRINGIFY
#define STRINGIFY(arg) #arg #define STRINGIFY(arg) #arg
@@ -135,10 +135,14 @@ const int32_t CUSTOM_ADVANTECH_GEMINI_336_PID = 0x0816; // Custom Advantech Ge
const int32_t CUSTOM_ADVANTECH_GEMINI_336L_PID = 0x0817; // Custom Advantech Gemini 336L const int32_t CUSTOM_ADVANTECH_GEMINI_336L_PID = 0x0817; // Custom Advantech Gemini 336L
const int32_t DABAI_MAX_PID = 0x069a; // dabai max const int32_t DABAI_MAX_PID = 0x069a; // dabai max
const int32_t GEMINI_338_PID = 0x0818; // Gemini 338 const int32_t GEMINI_338_PID = 0x0818; // Gemini 338
const uint16_t GEMINI_435Le_PID = 0x815; // Gemini 435Le const int32_t GEMINI_435Le_PID = 0x815; // Gemini 435Le
const uint16_t GEMINI_305_PID = 0x0840; // Gemini 305 const int32_t GEMINI_305_PID = 0x0840; // Gemini 305
const uint16_t GEMINI_305_PID2 = 0x0841; // Gemini 305 const int32_t GEMINI_305_PID2 = 0x0841; // Gemini 305
const uint16_t GEMINI_305G_PID = 0x0842; // Gemini 305g const int32_t GEMINI_305G_PID = 0x0842; // Gemini 305g
const int32_t GEMINI_338LG_PID = 0x081A; // Gemini 338Lg
const int32_t GEMINI_338LE_PID = 0x081B; // Gemini 338Le
const int32_t GEMINI_338L_PID = 0x081C; // Gemini 338L
const int32_t GEMINI_331L_PID = 0x081D; // Gemini 331L
inline bool isGemini305SeriesPID(uint32_t pid) { inline bool isGemini305SeriesPID(uint32_t pid) {
return pid == GEMINI_305_PID || pid == GEMINI_305_PID2 || pid == GEMINI_305G_PID; return pid == GEMINI_305_PID || pid == GEMINI_305_PID2 || pid == GEMINI_305G_PID;
orbbec_camera/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3"> <package format="3">
<name>orbbec_camera</name> <name>orbbec_camera</name>
<version>2.8.1</version> <version>2.8.2</version>
<description>Orbbec Camera package</description> <description>Orbbec Camera package</description>
<maintainer email="[email protected]">Joe Dong</maintainer> <maintainer email="[email protected]">Joe Dong</maintainer>
<license>Apache-2.0</license> <license>Apache-2.0</license>
orbbec_camera/scripts/99-obsensor-libusb.rules
+4
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@@ -44,6 +44,10 @@ SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0840", MODE:="066
SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0841", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="Gemini_305" SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0841", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="Gemini_305"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0842", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="Gemini_305g" SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0842", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="Gemini_305g"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0843", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="Gemini_301g" SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0843", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="Gemini_301g"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="081a", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="Gemini_338Lg"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="081b", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="Gemini_338Le"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="081c", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="Gemini_338L"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="081d", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="Gemini_331L"
# OpenNI Modules # OpenNI Modules
SUBSYSTEM=="usb", ATTR{idProduct}=="0400", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_bootloader" SUBSYSTEM=="usb", ATTR{idProduct}=="0400", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_bootloader"
orbbec_camera/src/ob_camera_node.cpp
+4 -5
View File
@@ -3437,8 +3437,7 @@ void OBCameraNode::setDepthAutoExposureROI() {
return; return;
} }
if (isGemini305SeriesPID(pid_) && ae_reference_stream_ == "color") { if (isGemini305SeriesPID(pid_) && ae_reference_stream_ == "color") {
RCLCPP_WARN_STREAM(logger_, RCLCPP_WARN_STREAM(logger_, "Skip setting depth AE ROI because AE Reference Stream is color");
"Skip setting depth AE ROI because AE Reference Stream is color");
depth_roi_has_run = true; depth_roi_has_run = true;
return; return;
} }
@@ -3483,8 +3482,7 @@ void OBCameraNode::setColorAutoExposureROI() {
return; return;
} }
if (isGemini305SeriesPID(pid_) && ae_reference_stream_ == "depth") { if (isGemini305SeriesPID(pid_) && ae_reference_stream_ == "depth") {
RCLCPP_WARN_STREAM(logger_, RCLCPP_WARN_STREAM(logger_, "Skip setting color AE ROI because AE Reference Stream is depth");
"Skip setting color AE ROI because AE Reference Stream is depth");
color_roi_has_run = true; color_roi_has_run = true;
return; return;
} }
@@ -4717,7 +4715,8 @@ bool OBCameraNode::isGemini335PID(uint32_t pid) {
pid == GEMINI_335L_PID || pid == GEMINI_330L_PID || pid == GEMINI_336L_PID || pid == GEMINI_335L_PID || pid == GEMINI_330L_PID || pid == GEMINI_336L_PID ||
pid == GEMINI_335LG_PID || pid == GEMINI_336LG_PID || pid == GEMINI_335LE_PID || pid == GEMINI_335LG_PID || pid == GEMINI_336LG_PID || pid == GEMINI_335LE_PID ||
pid == GEMINI_336LE_PID || pid == CUSTOM_ADVANTECH_GEMINI_336_PID || pid == GEMINI_336LE_PID || pid == CUSTOM_ADVANTECH_GEMINI_336_PID ||
pid == CUSTOM_ADVANTECH_GEMINI_336L_PID || pid == GEMINI_338_PID; pid == CUSTOM_ADVANTECH_GEMINI_336L_PID || pid == GEMINI_338_PID ||
pid == GEMINI_338L_PID || pid == GEMINI_338LE_PID || pid == GEMINI_338LG_PID;
} }
bool OBCameraNode::isGemini435LePID(uint32_t pid) { return pid == GEMINI_435Le_PID; } bool OBCameraNode::isGemini435LePID(uint32_t pid) { return pid == GEMINI_435Le_PID; }
orbbec_camera/src/ob_camera_node_driver.cpp
+20 -12
View File
@@ -217,7 +217,8 @@ void OBCameraNodeDriver::init() {
ob::Context::setLoggerFileName(log_file_name); ob::Context::setLoggerFileName(log_file_name);
RCLCPP_INFO_STREAM(logger_, "SDK log file name set to: " << log_file_name); RCLCPP_INFO_STREAM(logger_, "SDK log file name set to: " << log_file_name);
} catch (const ob::Error &e) { } catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger_, "Failed to set SDK log file name: " << orbbec_camera::formatObErrorWithStatus(e)); RCLCPP_WARN_STREAM(logger_, "Failed to set SDK log file name: "
<< orbbec_camera::formatObErrorWithStatus(e));
} }
} }
// Force IP // Force IP
@@ -528,7 +529,8 @@ void OBCameraNodeDriver::resetDevice() {
device_.reset(); device_.reset();
RCLCPP_INFO_STREAM(logger_, "device_ reset completed"); RCLCPP_INFO_STREAM(logger_, "device_ reset completed");
} catch (const ob::Error &e) { } catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger_, "OB Exception during device reset: " << orbbec_camera::formatObErrorWithStatus(e)); RCLCPP_WARN_STREAM(logger_, "OB Exception during device reset: "
<< orbbec_camera::formatObErrorWithStatus(e));
} catch (const std::exception &e) { } catch (const std::exception &e) {
RCLCPP_WARN_STREAM(logger_, "Standard exception during device reset: " << e.what()); RCLCPP_WARN_STREAM(logger_, "Standard exception during device reset: " << e.what());
} catch (...) { } catch (...) {
@@ -838,8 +840,9 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceBySerialNumber(
} }
} }
} catch (ob::Error &e) { } catch (ob::Error &e) {
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000, RCLCPP_ERROR_STREAM_THROTTLE(
"Failed to get device info " << orbbec_camera::formatObErrorWithStatus(e)); logger_, *get_clock(), 5000,
"Failed to get device info " << orbbec_camera::formatObErrorWithStatus(e));
} catch (std::exception &e) { } catch (std::exception &e) {
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000, RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Failed to get device info " << e.what()); "Failed to get device info " << e.what());
@@ -871,8 +874,9 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByUSBPort(
} }
return device; return device;
} catch (ob::Error &e) { } catch (ob::Error &e) {
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000, RCLCPP_ERROR_STREAM_THROTTLE(
"Failed to get device info " << orbbec_camera::formatObErrorWithStatus(e)); logger_, *get_clock(), 5000,
"Failed to get device info " << orbbec_camera::formatObErrorWithStatus(e));
} catch (std::exception &e) { } catch (std::exception &e) {
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000, RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Failed to get device info " << e.what()); "Failed to get device info " << e.what());
@@ -907,8 +911,9 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByNetIP(
return list->getDevice(i, device_access_mode_); return list->getDevice(i, device_access_mode_);
} }
} catch (ob::Error &e) { } catch (ob::Error &e) {
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000, RCLCPP_ERROR_STREAM_THROTTLE(
"Failed to get device info " << orbbec_camera::formatObErrorWithStatus(e)); logger_, *get_clock(), 5000,
"Failed to get device info " << orbbec_camera::formatObErrorWithStatus(e));
continue; continue;
} catch (std::exception &e) { } catch (std::exception &e) {
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000, RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
@@ -1196,7 +1201,8 @@ bool OBCameraNodeDriver::applyForceIpConfig() {
RCLCPP_ERROR(logger_, "[ForceIP] Failed to apply config (SDK returned false)"); RCLCPP_ERROR(logger_, "[ForceIP] Failed to apply config (SDK returned false)");
} }
} catch (const ob::Error &e) { } catch (const ob::Error &e) {
RCLCPP_ERROR(logger_, "[ForceIP] ob::Error: %s", orbbec_camera::formatObErrorWithStatus(e).c_str()); RCLCPP_ERROR(logger_, "[ForceIP] ob::Error: %s",
orbbec_camera::formatObErrorWithStatus(e).c_str());
} catch (const std::exception &e) { } catch (const std::exception &e) {
RCLCPP_ERROR(logger_, "[ForceIP] std::exception: %s", e.what()); RCLCPP_ERROR(logger_, "[ForceIP] std::exception: %s", e.what());
} catch (...) { } catch (...) {
@@ -1328,7 +1334,7 @@ void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list
} }
auto pid = device->getDeviceInfo()->getPid(); auto pid = device->getDeviceInfo()->getPid();
if (GEMINI_335LG_PID == pid) { if (GEMINI_335LG_PID == pid || GEMINI_338LG_PID == pid) {
ob_camera_node_->startGmslTrigger(); ob_camera_node_->startGmslTrigger();
} }
if (isGemini305SeriesPID(pid)) { if (isGemini305SeriesPID(pid)) {
@@ -1336,7 +1342,8 @@ void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list
ob_camera_node_->startStreams(); ob_camera_node_->startStreams();
} }
} catch (ob::Error &e) { } catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to initialize device " << orbbec_camera::formatObErrorWithStatus(e)); RCLCPP_ERROR_STREAM(
logger_, "Failed to initialize device " << orbbec_camera::formatObErrorWithStatus(e));
start_device_failed = true; start_device_failed = true;
} catch (std::exception &e) { } catch (std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to initialize device " << e.what()); RCLCPP_ERROR_STREAM(logger_, "Failed to initialize device " << e.what());
@@ -1409,7 +1416,8 @@ void OBCameraNodeDriver::updatePresetFirmware(std::string path) {
} }
} }
} catch (ob::Error &e) { } catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to update Preset Firmware " << orbbec_camera::formatObErrorWithStatus(e)); RCLCPP_ERROR_STREAM(logger_, "Failed to update Preset Firmware "
<< orbbec_camera::formatObErrorWithStatus(e));
} catch (std::exception &e) { } catch (std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to update Preset Firmware " << e.what()); RCLCPP_ERROR_STREAM(logger_, "Failed to update Preset Firmware " << e.what());
} catch (...) { } catch (...) {
orbbec_camera/src/ros_service.cpp
+7 -5
View File
@@ -27,11 +27,13 @@ namespace {
bool isGemini330SeriesForDisparity(uint32_t pid) { bool isGemini330SeriesForDisparity(uint32_t pid) {
return pid == GEMINI_335_PID || pid == GEMINI_336_PID || pid == GEMINI_330_PID || return pid == GEMINI_335_PID || pid == GEMINI_336_PID || pid == GEMINI_330_PID ||
pid == GEMINI_335L_PID || pid == GEMINI_336L_PID || pid == GEMINI_330L_PID || pid == GEMINI_335L_PID || pid == GEMINI_336L_PID || pid == GEMINI_330L_PID ||
pid == GEMINI_335LG_PID || pid == GEMINI_335LE_PID; pid == GEMINI_335LG_PID || pid == GEMINI_335LE_PID || pid == GEMINI_338_PID ||
pid == GEMINI_338LG_PID || pid == GEMINI_338LE_PID || pid == GEMINI_338L_PID ||
pid == GEMINI_331L_PID;
} }
bool isSupportedDisparityResolutionForPid(uint32_t pid, int width, int height) { bool isSupportedDisparityResolutionForPid(uint32_t pid, int width, int height) {
if (pid == GEMINI_335LE_PID) { if (pid == GEMINI_335LE_PID || pid == GEMINI_338LE_PID) {
return (width == 1280 && height == 800) || (width == 640 && height == 400) || return (width == 1280 && height == 800) || (width == 640 && height == 400) ||
(width == 424 && height == 266) || (width == 320 && height == 200); (width == 424 && height == 266) || (width == 320 && height == 200);
} }
@@ -41,11 +43,11 @@ bool isSupportedDisparityResolutionForPid(uint32_t pid, int width, int height) {
} }
std::string getDisparityResolutionHintByPid(uint32_t pid) { std::string getDisparityResolutionHintByPid(uint32_t pid) {
if (pid == GEMINI_335LE_PID) { if (pid == GEMINI_335LE_PID || pid == GEMINI_338LE_PID) {
return "Supported resolutions for Gemini 335Le: 1280x800/640x400/424x266/320x200"; return "Supported resolutions for the current device: 1280x800/640x400/424x266/320x200";
} }
return "Supported resolutions for Gemini 335/336/330/335L/336L/335Lg/330L: " return "Supported resolutions for the current device: "
"1280x800/1280x720/640x400/424x266"; "1280x800/1280x720/640x400/424x266";
} }
orbbec_camera/tools/multi_save_rgbir.cpp
+3 -1
View File
@@ -84,7 +84,9 @@ class MultiCameraSubscriber : public rclcpp::Node {
pid == GEMINI_335L_PID || pid == GEMINI_330L_PID || pid == GEMINI_336L_PID || pid == GEMINI_335L_PID || pid == GEMINI_330L_PID || pid == GEMINI_336L_PID ||
pid == GEMINI_335LG_PID || pid == GEMINI_336LG_PID || pid == GEMINI_335LE_PID || pid == GEMINI_335LG_PID || pid == GEMINI_336LG_PID || pid == GEMINI_335LE_PID ||
pid == GEMINI_336LE_PID || pid == CUSTOM_ADVANTECH_GEMINI_336_PID || pid == GEMINI_336LE_PID || pid == CUSTOM_ADVANTECH_GEMINI_336_PID ||
pid == CUSTOM_ADVANTECH_GEMINI_336L_PID || pid == GEMINI_338_PID; pid == CUSTOM_ADVANTECH_GEMINI_336L_PID || pid == GEMINI_338_PID ||
pid == GEMINI_338LG_PID || pid == GEMINI_338LE_PID || pid == GEMINI_338L_PID ||
pid == GEMINI_331L_PID;
} }
void params_init() { void params_init() {
std::ifstream file( std::ifstream file(
orbbec_camera_msgs/package.xml
+1 -1
View File
@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3"> <package format="3">
<name>orbbec_camera_msgs</name> <name>orbbec_camera_msgs</name>
<version>2.8.1</version> <version>2.8.2</version>
<description>A package containing orbbec camera messages definitions.</description> <description>A package containing orbbec camera messages definitions.</description>
<maintainer email="[email protected]">Joe Dong</maintainer> <maintainer email="[email protected]">Joe Dong</maintainer>
<license>Apache-2.0</license> <license>Apache-2.0</license>
orbbec_description/package.xml
+1 -1
View File
@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3"> <package format="3">
<name>orbbec_description</name> <name>orbbec_description</name>
<version>2.8.1</version> <version>2.8.2</version>
<description>TODO: Package description</description> <description>TODO: Package description</description>
<maintainer email="[email protected]">toosimple</maintainer> <maintainer email="[email protected]">toosimple</maintainer>
<license>Apache-2.0</license> <license>Apache-2.0</license>