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add sync mode

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This commit is contained in:
Joe Dong
2023-03-20 11:18:59 +08:00
parent 70ecc28dec
commit 40d097d439
4 changed files with 95 additions and 1 deletions
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orbbec_camera/src/ob_camera_node.cpp
+40 -1
View File
@@ -97,9 +97,36 @@ void OBCameraNode::setupDevices() {
}
}
auto info = device_->getDeviceInfo();
if(enable_hardware_d2d_ && info->pid() == GEMINI2_PID){
if (enable_hardware_d2d_ && info->pid() == GEMINI2_PID) {
device_->setBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL, true);
}
try {
if (!depth_work_mode_.empty()) {
device_->switchDepthWorkMode(depth_work_mode_.c_str());
}
if (sync_mode_ != OB_SYNC_MODE_CLOSE) {
OBDeviceSyncConfig sync_config;
sync_config.syncMode = sync_mode_;
sync_config.irTriggerSignalInDelay = ir_trigger_signal_in_delay_;
sync_config.rgbTriggerSignalInDelay = rgb_trigger_signal_in_delay_;
sync_config.deviceTriggerSignalOutDelay = device_trigger_signal_out_delay_;
device_->setSyncConfig(sync_config);
}
if (info->pid() == GEMINI2_PID) {
auto default_precision_level = device_->getIntProperty(OB_PROP_DEPTH_PRECISION_LEVEL_INT);
if (default_precision_level != depth_precision_) {
device_->setIntProperty(OB_PROP_DEPTH_PRECISION_LEVEL_INT, depth_precision_);
}
}
device_->setBoolProperty(OB_PROP_DEPTH_SOFT_FILTER_BOOL, enable_soft_filter_);
device_->setBoolProperty(OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, enable_color_auto_exposure_);
device_->setBoolProperty(OB_PROP_IR_AUTO_EXPOSURE_BOOL, enable_ir_auto_exposure_);
} catch (const ob::Error& e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to setup devices: " << e.getMessage());
} catch (const std::exception& e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to setup devices: " << e.what());
}
}
void OBCameraNode::setupProfiles() {
@@ -264,6 +291,18 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter(enable_publish_extrinsic_, "enable_publish_extrinsic", false);
setAndGetNodeParameter(enable_d2c_viewer_, "enable_d2c_viewer", false);
setAndGetNodeParameter(enable_hardware_d2d_, "enable_hardware_d2d", true);
setAndGetNodeParameter(enable_soft_filter_, "enable_soft_filter", true);
setAndGetNodeParameter(enable_color_auto_exposure_, "enable_color_auto_exposure", true);
setAndGetNodeParameter(enable_ir_auto_exposure_, "enable_ir_auto_exposure", true);
setAndGetNodeParameter<std::string>(depth_work_mode_, "depth_work_mode", "");
setAndGetNodeParameter<std::string>(sync_mode_str_, "sync_mode", "close");
setAndGetNodeParameter(ir_trigger_signal_in_delay_, "ir_trigger_signal_in_delay", 0);
setAndGetNodeParameter(rgb_trigger_signal_in_delay_, "rgb_trigger_signal_in_delay", 0);
setAndGetNodeParameter(device_trigger_signal_out_delay_, "device_trigger_signal_out_delay", 0);
setAndGetNodeParameter<std::string>(depth_precision_str_, "depth_precision", "0.8mm");
std::transform(sync_mode_str_.begin(), sync_mode_str_.end(), sync_mode_str_.begin(), ::toupper);
sync_mode_ = OBSyncModeFromString(sync_mode_str_);
depth_precision_ = depthPrecisionLevelFromString(depth_precision_str_);
if (enable_colored_point_cloud_) {
depth_registration_ = true;
}
orbbec_camera/src/utils.cpp
+38
View File
@@ -264,4 +264,42 @@ bool isOpenNIDevice(int pid) {
return false;
}
OB_DEPTH_PRECISION_LEVEL depthPrecisionLevelFromString(
const std::string &depth_precision_level_str) {
if (depth_precision_level_str == "1mm") {
return OB_PRECISION_1MM;
} else if (depth_precision_level_str == "0.8mm") {
return OB_PRECISION_0MM8;
} else if (depth_precision_level_str == "0.4mm") {
return OB_PRECISION_0MM4;
} else if (depth_precision_level_str == "0.2mm") {
return OB_PRECISION_0MM2;
} else if (depth_precision_level_str == "0.1mm") {
return OB_PRECISION_0MM1;
} else {
return OB_PRECISION_0MM8;
}
}
OBSyncMode OBSyncModeFromString(const std::string &mode) {
if (mode == "CLOSE") {
return OBSyncMode::OB_SYNC_MODE_CLOSE;
} else if (mode == "STANDALONE") {
return OBSyncMode::OB_SYNC_MODE_STANDALONE;
} else if (mode == "SECONDARY") {
return OBSyncMode::OB_SYNC_MODE_SECONDARY;
} else if (mode == "PRIMARY_MCU_TRIGGER") {
return OBSyncMode::OB_SYNC_MODE_PRIMARY_MCU_TRIGGER;
} else if (mode == "PRIMARY_IR_TRIGGER") {
return OBSyncMode::OB_SYNC_MODE_PRIMARY_IR_TRIGGER;
} else if (mode == "PRIMARY_SOFT_TRIGGER") {
return OBSyncMode::OB_SYNC_MODE_PRIMARY_SOFT_TRIGGER;
} else if (mode == "SECONDARY_SOFT_TRIGGER") {
return OBSyncMode::OB_SYNC_MODE_SECONDARY_SOFT_TRIGGER;
} else {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("utils"), "Unknown OBSyncMode: " << mode);
return OBSyncMode::OB_SYNC_MODE_CLOSE;
}
}
} // namespace orbbec_camera