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chore: update list profile

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Joe Dong
2024-05-09 12:02:20 +08:00
parent b6a6304a2a
commit 27be98d972
1 changed files with 62 additions and 50 deletions
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orbbec_camera/src/list_camera_profile.cpp
+62 -50
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@@ -1,71 +1,83 @@
/*******************************************************************************
* Copyright (c) 2023 Orbbec 3D Technology, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
#include <rclcpp/rclcpp.hpp>
#include <orbbec_camera/ob_camera_node_driver.h>
#include <orbbec_camera/ob_camera_node.h>
#include <memory>
#include <magic_enum/magic_enum.hpp>
#include <orbbec_camera/utils.h>
int main() {
using namespace orbbec_camera;
auto context = std::make_unique<ob::Context>();
context->setLoggerSeverity(OBLogSeverity::OB_LOG_SEVERITY_NONE);
auto device_list = context->queryDeviceList();
auto device = device_list->getDevice(0);
#include <iostream>
using namespace orbbec_camera;
std::shared_ptr<ob::Device> initializeDevice(std::shared_ptr<ob::Pipeline> pipeline) {
auto device = pipeline->getDevice();
if (!device) {
std::cout << "No device found" << std::endl;
return nullptr;
}
return device;
}
void listSensorProfiles(const std::shared_ptr<ob::Device>& device) {
auto sensor_list = device->getSensorList();
for (size_t i = 0; i < sensor_list->count(); i++) {
auto sensor = sensor_list->getSensor(i);
auto profile_list = sensor->getStreamProfileList();
for (size_t j = 0; j < profile_list->count(); j++) {
auto origin_profile = profile_list->getProfile(j);
if (sensor->type() == OB_SENSOR_COLOR) {
if (sensor->type() == OB_SENSOR_COLOR || sensor->type() == OB_SENSOR_DEPTH ||
sensor->type() == OB_SENSOR_IR || sensor->type() == OB_SENSOR_IR_LEFT ||
sensor->type() == OB_SENSOR_IR_RIGHT) {
auto profile = origin_profile->as<ob::VideoStreamProfile>();
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
"color profile: " << profile->width() << "x" << profile->height() << " "
<< profile->fps() << "fps "
<< magic_enum::enum_name(profile->format()));
} else if (sensor->type() == OB_SENSOR_DEPTH) {
auto profile = origin_profile->as<ob::VideoStreamProfile>();
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
"depth profile: " << profile->width() << "x" << profile->height() << " "
<< profile->fps() << "fps "
<< magic_enum::enum_name(profile->format()));
} else if (sensor->type() == OB_SENSOR_IR) {
auto profile = origin_profile->as<ob::VideoStreamProfile>();
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
"ir profile: " << profile->width() << "x" << profile->height() << " "
<< profile->fps() << "fps "
<< magic_enum::enum_name(profile->format()));
std::cout << magic_enum::enum_name(sensor->type()) << " profile: " << profile->width()
<< "x" << profile->height() << " " << profile->fps() << "fps "
<< magic_enum::enum_name(profile->format()) << std::endl;
} else if (sensor->type() == OB_SENSOR_ACCEL) {
auto profile = origin_profile->as<ob::AccelStreamProfile>();
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
"accel profile: sampleRate "
<< sampleRateToString(profile->sampleRate()) << " full scale_range "
<< fullAccelScaleRangeToString(profile->fullScaleRange()));
std::cout << magic_enum::enum_name(sensor->type()) << " profile: " << profile->sampleRate()
<< " full scale_range " << profile->fullScaleRange() << std::endl;
} else if (sensor->type() == OB_SENSOR_GYRO) {
auto profile = origin_profile->as<ob::GyroStreamProfile>();
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
"gyro profile: sampleRate "
<< sampleRateToString(profile->sampleRate()) << " full scale_range "
<< fullGyroScaleRangeToString(profile->fullScaleRange()));
std::cout << magic_enum::enum_name(sensor->type()) << " profile: " << profile->sampleRate()
<< " full scale_range " << profile->fullScaleRange() << std::endl;
} else {
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
"unknown profile: " << magic_enum::enum_name(sensor->type()));
std::cout << "Unknown profile: " << magic_enum::enum_name(sensor->type()) << std::endl;
}
}
}
}
void printDeviceProperties(const std::shared_ptr<ob::Device>& device) {
if (!device->isPropertySupported(OB_STRUCT_CURRENT_DEPTH_ALG_MODE, OB_PERMISSION_READ_WRITE)) {
std::cout << "Current device not support depth work mode!" << std::endl;
return;
}
auto current_depth_mode = device->getCurrentDepthWorkMode();
std::cout << "Current depth mode: " << current_depth_mode.name << std::endl;
auto depth_mode_list = device->getDepthWorkModeList();
std::cout << "Depth mode list: " << std::endl;
for (uint32_t i = 0; i < depth_mode_list->count(); i++) {
std::cout << "Depth_mode_list[" << i << "]: " << (*depth_mode_list)[i].name << std::endl;
}
}
void printPreset(const std::shared_ptr<ob::Device>& device) {
auto preset_list = device->getAvailablePresetList();
if (!preset_list || preset_list->count() == 0) {
return;
}
std::cout << "Preset list:" << std::endl;
for (uint32_t i = 0; i < preset_list->count(); i++) {
auto name = preset_list->getName(i);
std::cout << "Preset list[ " << i << "]: " << name << std::endl;
}
}
int main() {
auto pipeline = std::make_shared<ob::Pipeline>();
auto device = initializeDevice(pipeline);
if (!device) {
return -1; // Device initialization failed
}
listSensorProfiles(device);
printDeviceProperties(device);
printPreset(device);
return 0;
}