mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-04 12:07:46 +08:00
change: move tool node to tools dir
This commit is contained in:
Joe Dong
@@ -1,83 +0,0 @@
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#include <rclcpp/rclcpp.hpp>
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#include <orbbec_camera/ob_camera_node_driver.h>
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#include <orbbec_camera/ob_camera_node.h>
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#include <memory>
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#include <magic_enum/magic_enum.hpp>
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#include <iostream>
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using namespace orbbec_camera;
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std::shared_ptr<ob::Device> initializeDevice(std::shared_ptr<ob::Pipeline> pipeline) {
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auto device = pipeline->getDevice();
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if (!device) {
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std::cout << "No device found" << std::endl;
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return nullptr;
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}
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return device;
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}
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void listSensorProfiles(const std::shared_ptr<ob::Device>& device) {
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auto sensor_list = device->getSensorList();
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for (size_t i = 0; i < sensor_list->count(); i++) {
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auto sensor = sensor_list->getSensor(i);
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auto profile_list = sensor->getStreamProfileList();
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for (size_t j = 0; j < profile_list->count(); j++) {
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auto origin_profile = profile_list->getProfile(j);
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if (sensor->type() == OB_SENSOR_COLOR || sensor->type() == OB_SENSOR_DEPTH ||
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sensor->type() == OB_SENSOR_IR || sensor->type() == OB_SENSOR_IR_LEFT ||
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sensor->type() == OB_SENSOR_IR_RIGHT) {
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auto profile = origin_profile->as<ob::VideoStreamProfile>();
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std::cout << magic_enum::enum_name(sensor->type()) << " profile: " << profile->width()
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<< "x" << profile->height() << " " << profile->fps() << "fps "
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<< magic_enum::enum_name(profile->format()) << std::endl;
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} else if (sensor->type() == OB_SENSOR_ACCEL) {
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auto profile = origin_profile->as<ob::AccelStreamProfile>();
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std::cout << magic_enum::enum_name(sensor->type()) << " profile: " << profile->sampleRate()
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<< " full scale_range " << profile->fullScaleRange() << std::endl;
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} else if (sensor->type() == OB_SENSOR_GYRO) {
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auto profile = origin_profile->as<ob::GyroStreamProfile>();
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std::cout << magic_enum::enum_name(sensor->type()) << " profile: " << profile->sampleRate()
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<< " full scale_range " << profile->fullScaleRange() << std::endl;
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} else {
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std::cout << "Unknown profile: " << magic_enum::enum_name(sensor->type()) << std::endl;
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}
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}
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}
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}
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void printDeviceProperties(const std::shared_ptr<ob::Device>& device) {
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if (!device->isPropertySupported(OB_STRUCT_CURRENT_DEPTH_ALG_MODE, OB_PERMISSION_READ_WRITE)) {
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std::cout << "Current device not support depth work mode!" << std::endl;
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return;
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}
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auto current_depth_mode = device->getCurrentDepthWorkMode();
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std::cout << "Current depth mode: " << current_depth_mode.name << std::endl;
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auto depth_mode_list = device->getDepthWorkModeList();
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std::cout << "Depth mode list: " << std::endl;
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for (uint32_t i = 0; i < depth_mode_list->count(); i++) {
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std::cout << "Depth_mode_list[" << i << "]: " << (*depth_mode_list)[i].name << std::endl;
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}
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}
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void printPreset(const std::shared_ptr<ob::Device>& device) {
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auto preset_list = device->getAvailablePresetList();
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if (!preset_list || preset_list->count() == 0) {
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return;
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}
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std::cout << "Preset list:" << std::endl;
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for (uint32_t i = 0; i < preset_list->count(); i++) {
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auto name = preset_list->getName(i);
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std::cout << "Preset list[" << i << "]: " << name << std::endl;
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}
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}
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int main() {
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auto pipeline = std::make_shared<ob::Pipeline>();
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auto device = initializeDevice(pipeline);
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if (!device) {
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return -1; // Device initialization failed
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}
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listSensorProfiles(device);
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printDeviceProperties(device);
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printPreset(device);
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return 0;
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}
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@@ -1,39 +0,0 @@
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/*******************************************************************************
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* Copyright (c) 2023 Orbbec 3D Technology, Inc
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*******************************************************************************/
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#include <orbbec_camera/ob_camera_node.h>
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int main() {
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std::shared_ptr<ob::Pipeline> pipeline = std::make_shared<ob::Pipeline>();
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auto device = pipeline->getDevice();
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if (!device) {
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std::cout << "No device found" << std::endl;
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return -1;
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}
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if (!device->isPropertySupported(OB_STRUCT_CURRENT_DEPTH_ALG_MODE, OB_PERMISSION_READ_WRITE)) {
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std::cout << "Current device not support depth work mode!" << std::endl;
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return -1;
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}
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auto current_depth_mode = device->getCurrentDepthWorkMode();
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std::cout << "current depth mode: " << current_depth_mode.name << std::endl;
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auto depth_mode_list = device->getDepthWorkModeList();
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std::cout << "depth mode list: " << std::endl;
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for (uint32_t i = 0; i < depth_mode_list->count(); i++) {
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std::cout << "depth_mode_list[" << i << "]: " << (*depth_mode_list)[i].name;
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std::cout << std::endl;
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}
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return 0;
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}
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@@ -1,43 +0,0 @@
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/*******************************************************************************
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* Copyright (c) 2023 Orbbec 3D Technology, Inc
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*******************************************************************************/
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#include <rclcpp/rclcpp.hpp>
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#include <orbbec_camera/ob_camera_node_driver.h>
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#include <orbbec_camera/utils.h>
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int main() {
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try {
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auto context = std::make_unique<ob::Context>();
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context->setLoggerSeverity(OBLogSeverity::OB_LOG_SEVERITY_NONE);
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auto list = context->queryDeviceList();
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for (size_t i = 0; i < list->deviceCount(); i++) {
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auto device = list->getDevice(i);
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auto device_info = device->getDeviceInfo();
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std::string serial = device_info->serialNumber();
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std::string uid = device_info->uid();
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auto usb_port = orbbec_camera::parseUsbPort(uid);
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RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "serial: " << serial);
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RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "usb port: " << usb_port);
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}
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} catch (const std::exception &e) {
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RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"), e.what());
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} catch (ob::Error &e) {
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RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"), e.getMessage());
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} catch (...) {
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RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"), "unknown error");
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}
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return 0;
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}
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