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feat: add disparity resolution checks for Gemini 330 series in callbacks

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ob-yalian
2026-03-16 15:33:57 +08:00
parent 134028503a
commit 38c32d81f7
1 changed files with 47 additions and 0 deletions
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orbbec_camera/src/ros_service.cpp
+47
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@@ -22,6 +22,35 @@
#include "orbbec_camera/utils.h"
namespace orbbec_camera {
namespace {
bool isGemini330SeriesForDisparity(uint32_t 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_335LG_PID || pid == GEMINI_335LE_PID;
}
bool isSupportedDisparityResolutionForPid(uint32_t pid, int width, int height) {
if (pid == GEMINI_335LE_PID) {
return (width == 1280 && height == 800) || (width == 640 && height == 400) ||
(width == 424 && height == 266) || (width == 320 && height == 200);
}
return (width == 1280 && height == 800) || (width == 1280 && height == 720) ||
(width == 640 && height == 400) || (width == 424 && height == 266);
}
std::string getDisparityResolutionHintByPid(uint32_t pid) {
if (pid == GEMINI_335LE_PID) {
return "Supported resolutions for Gemini 335Le: 1280x800/640x400/424x266/320x200";
}
return "Supported resolutions for Gemini 335/336/330/335L/336L/335Lg/330L: "
"1280x800/1280x720/640x400/424x266";
}
} // namespace
void OBCameraNode::setupCameraCtrlServices() {
using std_srvs::srv::SetBool;
for (auto stream_index : IMAGE_STREAMS) {
@@ -362,6 +391,15 @@ void OBCameraNode::setDisparityRangeModeCallback(const std::shared_ptr<SetInt32:
return;
}
if (isGemini330SeriesForDisparity(pid_) &&
!isSupportedDisparityResolutionForPid(pid_, width_[DEPTH], height_[DEPTH])) {
response->success = false;
response->message = "Current depth resolution " + std::to_string(width_[DEPTH]) + "x" +
std::to_string(height_[DEPTH]) + " is not supported. " +
getDisparityResolutionHintByPid(pid_);
return;
}
auto range = device_->getIntPropertyRange(OB_PROP_DISP_SEARCH_RANGE_MODE_INT);
int requested_mode_value = request->data;
int hw_mode_index = requested_mode_value;
@@ -414,6 +452,15 @@ void OBCameraNode::setDisparitySearchOffsetCallback(
return;
}
if (isGemini330SeriesForDisparity(pid_) &&
!isSupportedDisparityResolutionForPid(pid_, width_[DEPTH], height_[DEPTH])) {
response->success = false;
response->message = "Current depth resolution " + std::to_string(width_[DEPTH]) + "x" +
std::to_string(height_[DEPTH]) + " is not supported. " +
getDisparityResolutionHintByPid(pid_);
return;
}
auto range = device_->getIntPropertyRange(OB_PROP_DISP_SEARCH_OFFSET_INT);
if (request->data < range.min || request->data > range.max) {
response->success = false;