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1.更新orbbecSDK 1.9.1;2.gemini2增加深度滤波配置功能;3.增加IMU同时输出topic.

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This commit is contained in:
lixiaobin
2023-12-20 17:56:37 +08:00
parent 9ddd0a764b
commit 3fd37a7ce5
40 changed files with 1264 additions and 294 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+9
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@@ -284,6 +284,9 @@ class OBCameraNode {
void saveImageToFile(const stream_index_pair& stream_index, const cv::Mat& image,
const sensor_msgs::msg::Image::SharedPtr& image_msg);
void onNewIMUFrameSyncOutputCallback(const std::shared_ptr<ob::Frame>& accelframe,
const std::shared_ptr<ob::Frame>& gryoframe);
void onNewIMUFrameCallback(const std::shared_ptr<ob::Frame>& frame,
const stream_index_pair& stream_index);
@@ -305,6 +308,7 @@ class OBCameraNode {
rclcpp::Logger logger_;
std::atomic_bool is_running_{false};
std::unique_ptr<ob::Pipeline> pipeline_ = nullptr;
std::unique_ptr<ob::Pipeline> imuPipeline_ = nullptr;
std::atomic_bool pipeline_started_{false};
std::string camera_name_ = "camera";
std::shared_ptr<ob::Config> pipeline_config_ = nullptr;
@@ -364,6 +368,7 @@ class OBCameraNode {
rclcpp::Service<SetInt32>::SharedPtr set_fan_work_mode_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr toggle_sensors_srv_;
bool enable_sync_output_accel_gyro_ = false;
bool publish_tf_ = false;
bool tf_published_ = false;
std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_tf_broadcaster_ = nullptr;
@@ -393,6 +398,8 @@ class OBCameraNode {
std::atomic_bool save_colored_point_cloud_{false};
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr save_images_srv_;
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr save_point_cloud_srv_;
std::string depth_filter_config_;
bool enable_depth_filter_ = false;
bool enable_soft_filter_ = true;
bool enable_color_auto_exposure_ = true;
bool enable_ir_auto_exposure_ = true;
@@ -414,6 +421,8 @@ class OBCameraNode {
OB_DEPTH_PRECISION_LEVEL depth_precision_ = OB_PRECISION_0MM8;
// IMU
std::map<stream_index_pair, rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr> imu_publishers_;
rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imu_gyro_accel_publisher_;
bool imu_sync_output_start_ = false;
std::map<stream_index_pair, std::string> imu_rate_;
std::map<stream_index_pair, std::string> imu_range_;
std::map<stream_index_pair, std::string> imu_qos_;