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Update gemini_synced_verify.launch.py and add disaparity_to_depth_mode write condition judgment

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This commit is contained in:
jj
2025-05-14 09:34:27 +08:00
parent d11bbe7c94
commit 44d90ca947
4 changed files with 153 additions and 152 deletions
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orbbec_camera/config/camera_params.yaml
+7
View File
@@ -55,4 +55,11 @@ right_ir_height: 0
right_ir_fps: 0
right_ir_format: "ANY"
#ir params
# enable_ir: true
# ir_width: 0
# ir_height: 0
# ir_fps: 0
# ir_format: "ANY"
orbbec_camera/config/camera_secondary_params.yaml
+7
View File
@@ -55,4 +55,11 @@ right_ir_height: 0
right_ir_fps: 0
right_ir_format: "ANY"
#ir params except 330
# enable_ir: true
# ir_width: 0
# ir_height: 0
# ir_fps: 0
# ir_format: "ANY"
orbbec_camera/examples/multi_camera_synced_verification_tool/gemini_synced_verify.launch.py
+122 -138
View File
@@ -8,9 +8,8 @@ from launch_ros.descriptions import ComposableNode
from launch.conditions import UnlessCondition
from launch_ros.actions import LoadComposableNodes
def load_yaml(file_path):
with open(file_path, "r") as f:
with open(file_path, 'r') as f:
return yaml.safe_load(f)
@@ -31,22 +30,20 @@ def convert_value(value):
return float(value)
except ValueError:
pass
if value.lower() == "true":
if value.lower() == 'true':
return True
elif value.lower() == "false":
elif value.lower() == 'false':
return False
return value
def load_parameters(context, args):
default_params = {
arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args
}
config_file_path = LaunchConfiguration("config_file_path").perform(context)
default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
config_file_path = LaunchConfiguration('config_file_path').perform(context)
if config_file_path:
yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params)
skip_convert = {"config_file_path", "usb_port", "serial_number"}
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
return {
key: (value if key in skip_convert else convert_value(value))
for key, value in default_params.items()
@@ -55,111 +52,107 @@ def load_parameters(context, args):
def generate_launch_description():
args = [
DeclareLaunchArgument("camera_name", default_value="camera"),
DeclareLaunchArgument("depth_registration", default_value="true"),
DeclareLaunchArgument("serial_number", default_value=""),
DeclareLaunchArgument("usb_port", default_value=""),
DeclareLaunchArgument("device_num", default_value="1"),
DeclareLaunchArgument("uvc_backend", default_value="libuvc"), # libuvc or v4l2
DeclareLaunchArgument("product_id", default_value=""),
DeclareLaunchArgument("enable_point_cloud", default_value="true"),
DeclareLaunchArgument("cloud_frame_id", default_value=""),
DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
DeclareLaunchArgument("connection_delay", default_value="100"),
DeclareLaunchArgument("color_width", default_value="0"),
DeclareLaunchArgument("color_height", default_value="0"),
DeclareLaunchArgument("color_fps", default_value="0"),
DeclareLaunchArgument("color_format", default_value="ANY"),
DeclareLaunchArgument("enable_color", default_value="true"),
DeclareLaunchArgument("color_flip", default_value="false"),
DeclareLaunchArgument("color_qos", default_value="default"),
DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
DeclareLaunchArgument("enable_color_auto_exposure", default_value="true"),
DeclareLaunchArgument("color_ae_max_exposure", default_value="-1"),
DeclareLaunchArgument("color_ae_roi_left", default_value="-1"),
DeclareLaunchArgument("color_ae_roi_right", default_value="-1"),
DeclareLaunchArgument("color_ae_roi_top", default_value="-1"),
DeclareLaunchArgument("color_ae_roi_bottom", default_value="-1"),
DeclareLaunchArgument("color_exposure", default_value="-1"),
DeclareLaunchArgument("color_gain", default_value="-1"),
DeclareLaunchArgument("enable_color_auto_white_balance", default_value="true"),
DeclareLaunchArgument("color_white_balance", default_value="-1"),
DeclareLaunchArgument("color_brightness", default_value="-1"),
DeclareLaunchArgument("depth_width", default_value="0"),
DeclareLaunchArgument("depth_height", default_value="0"),
DeclareLaunchArgument("depth_fps", default_value="0"),
DeclareLaunchArgument("depth_format", default_value="ANY"),
DeclareLaunchArgument("enable_depth", default_value="true"),
DeclareLaunchArgument("depth_flip", default_value="false"),
DeclareLaunchArgument("depth_qos", default_value="default"),
DeclareLaunchArgument("depth_camera_info_qos", default_value="default"),
DeclareLaunchArgument("depth_ae_roi_left", default_value="-1"),
DeclareLaunchArgument("depth_ae_roi_right", default_value="-1"),
DeclareLaunchArgument("depth_ae_roi_top", default_value="-1"),
DeclareLaunchArgument("depth_ae_roi_bottom", default_value="-1"),
DeclareLaunchArgument("ir_width", default_value="0"),
DeclareLaunchArgument("ir_height", default_value="0"),
DeclareLaunchArgument("ir_fps", default_value="0"),
DeclareLaunchArgument("ir_format", default_value="ANY"),
DeclareLaunchArgument("enable_ir", default_value="true"),
DeclareLaunchArgument("ir_flip", default_value="false"),
DeclareLaunchArgument("ir_qos", default_value="default"),
DeclareLaunchArgument("ir_camera_info_qos", default_value="default"),
DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
DeclareLaunchArgument("ir_ae_max_exposure", default_value="-1"),
DeclareLaunchArgument("ir_exposure", default_value="-1"),
DeclareLaunchArgument("ir_gain", default_value="-1"),
DeclareLaunchArgument("ir_brightness", default_value="-1"),
DeclareLaunchArgument("config_file_path", default_value=""),
DeclareLaunchArgument("enable_sync_output_accel_gyro", default_value="true"),
DeclareLaunchArgument("enable_accel", default_value="false"),
DeclareLaunchArgument("accel_rate", default_value="100hz"),
DeclareLaunchArgument("accel_range", default_value="4g"),
DeclareLaunchArgument("enable_gyro", default_value="false"),
DeclareLaunchArgument("gyro_rate", default_value="100hz"),
DeclareLaunchArgument("gyro_range", default_value="1000dps"),
DeclareLaunchArgument("liner_accel_cov", default_value="0.01"),
DeclareLaunchArgument("angular_vel_cov", default_value="0.01"),
DeclareLaunchArgument("publish_tf", default_value="true"),
DeclareLaunchArgument("tf_publish_rate", default_value="0.0"),
DeclareLaunchArgument("ir_info_url", default_value=""),
DeclareLaunchArgument("color_info_url", default_value=""),
DeclareLaunchArgument("log_level", default_value="none"),
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
DeclareLaunchArgument("enable_ldp", default_value="true"),
DeclareLaunchArgument("enable_decimation_filter", default_value="false"),
DeclareLaunchArgument("decimation_filter_scale", default_value="-1"),
DeclareLaunchArgument('camera_name', default_value='camera'),
DeclareLaunchArgument('depth_registration', default_value='true'),
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='0'),
DeclareLaunchArgument('color_height', default_value='0'),
DeclareLaunchArgument('color_fps', default_value='0'),
DeclareLaunchArgument('color_format', default_value='ANY'),
DeclareLaunchArgument('enable_color', default_value='true'),
DeclareLaunchArgument('color_flip', default_value='false'),
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('color_ae_roi_left', default_value='-1'),
DeclareLaunchArgument('color_ae_roi_right', default_value='-1'),
DeclareLaunchArgument('color_ae_roi_top', default_value='-1'),
DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'),
DeclareLaunchArgument('color_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
DeclareLaunchArgument('color_white_balance', default_value='-1'),
DeclareLaunchArgument('color_brightness', default_value='-1'),
DeclareLaunchArgument('depth_width', default_value='0'),
DeclareLaunchArgument('depth_height', default_value='0'),
DeclareLaunchArgument('depth_fps', default_value='0'),
DeclareLaunchArgument('depth_format', default_value='ANY'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('depth_flip', default_value='false'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('depth_ae_roi_left', default_value='-1'),
DeclareLaunchArgument('depth_ae_roi_right', default_value='-1'),
DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'),
DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'),
DeclareLaunchArgument('ir_width', default_value='0'),
DeclareLaunchArgument('ir_height', default_value='0'),
DeclareLaunchArgument('ir_fps', default_value='0'),
DeclareLaunchArgument('ir_format', default_value='ANY'),
DeclareLaunchArgument('enable_ir', default_value='true'),
DeclareLaunchArgument('flip_ir', default_value='false'),
DeclareLaunchArgument('ir_qos', default_value='default'),
DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('ir_exposure', default_value='-1'),
DeclareLaunchArgument('ir_gain', default_value='-1'),
DeclareLaunchArgument('ir_brightness', default_value='-1'),
DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='true'),
DeclareLaunchArgument('enable_accel', default_value='false'),
DeclareLaunchArgument('accel_rate', default_value='100hz'),
DeclareLaunchArgument('accel_range', default_value='4g'),
DeclareLaunchArgument('enable_gyro', default_value='false'),
DeclareLaunchArgument('gyro_rate', default_value='100hz'),
DeclareLaunchArgument('gyro_range', default_value='1000dps'),
DeclareLaunchArgument('liner_accel_cov', default_value='0.01'),
DeclareLaunchArgument('angular_vel_cov', default_value='0.01'),
DeclareLaunchArgument('publish_tf', default_value='true'),
DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
DeclareLaunchArgument('ir_info_url', default_value=''),
DeclareLaunchArgument('color_info_url', default_value=''),
DeclareLaunchArgument('log_level', default_value='none'),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
# Configure the path for depth filter file, for example: /config/depthfilter/Gemini2_v1.7.json
DeclareLaunchArgument("depth_filter_config", default_value=""),
DeclareLaunchArgument('depth_filter_config', default_value=''),
# Depth work mode support is as follows:
# Unbinned Dense Default
# Unbinned Sparse Default
# Binned Sparse Default
# Obstacle Avoidance
DeclareLaunchArgument("depth_work_mode", default_value=""),
DeclareLaunchArgument("sync_mode", default_value="standalone"),
DeclareLaunchArgument("depth_delay_us", default_value="0"),
DeclareLaunchArgument("color_delay_us", default_value="0"),
DeclareLaunchArgument("trigger2image_delay_us", default_value="0"),
DeclareLaunchArgument("trigger_out_delay_us", default_value="0"),
DeclareLaunchArgument("trigger_out_enabled", default_value="false"),
DeclareLaunchArgument("enable_frame_sync", default_value="true"),
DeclareLaunchArgument("ordered_pc", default_value="false"),
DeclareLaunchArgument("enable_depth_scale", default_value="true"),
DeclareLaunchArgument("align_mode", default_value="HW"),
DeclareLaunchArgument("retry_on_usb3_detection_failure", default_value="false"),
DeclareLaunchArgument("laser_energy_level", default_value="-1"),
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
DeclareLaunchArgument("time_domain", default_value="global"),
DeclareLaunchArgument("use_intra_process_comms", default_value="false"),
DeclareLaunchArgument(
"attach_component_container_enable", default_value="false"
),
DeclareLaunchArgument(
"attach_component_container_name", default_value="orbbec_container"
),
DeclareLaunchArgument('depth_work_mode', default_value=''),
DeclareLaunchArgument('sync_mode', default_value='standalone'),
DeclareLaunchArgument('depth_delay_us', default_value='0'),
DeclareLaunchArgument('color_delay_us', default_value='0'),
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_out_enabled', default_value='false'),
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
DeclareLaunchArgument('align_mode', default_value='SW'),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('time_domain', default_value='global'),
DeclareLaunchArgument('use_intra_process_comms', default_value='false'),
DeclareLaunchArgument('attach_component_container_enable', default_value='false'),
DeclareLaunchArgument('attach_component_container_name', default_value='orbbec_container'),
]
def get_params(context, args):
@@ -180,44 +173,35 @@ def generate_launch_description():
)
]
else:
attach_to_shared_component_container_arg = LaunchConfiguration(
"attach_to_shared_component_container", default=False
)
component_container_name_arg = LaunchConfiguration(
"component_container_name", default="orbbec_container"
)
attach_to_shared_component_container_arg = LaunchConfiguration('attach_to_shared_component_container', default=False)
component_container_name_arg = LaunchConfiguration('component_container_name', default='orbbec_container')
orbbec_container = Node(
name=component_container_name_arg,
package="rclcpp_components",
executable="component_container_mt",
output="screen",
condition=UnlessCondition(attach_to_shared_component_container_arg),
package='rclcpp_components',
executable='component_container_mt',
output='screen',
condition=UnlessCondition(attach_to_shared_component_container_arg)
)
return [
orbbec_container,
LoadComposableNodes(
target_container=component_container_name_arg,
composable_node_descriptions=[
ComposableNode(
namespace=LaunchConfiguration("camera_name"),
name=LaunchConfiguration("camera_name"),
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
parameters=params,
extra_arguments=[
{
"use_intra_process_comms": LaunchConfiguration(
"use_intra_process_comms"
)
}
],
)
],
),
target_container=component_container_name_arg,
composable_node_descriptions=[
ComposableNode(
namespace=LaunchConfiguration("camera_name"),
name=LaunchConfiguration("camera_name"),
package='orbbec_camera',
plugin='orbbec_camera::OBCameraNodeDriver',
parameters=params,
extra_arguments=[{'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms")}],
)
]
)
]
return LaunchDescription(
args
+ [OpaqueFunction(function=lambda context: create_node_action(context, args))]
args + [
OpaqueFunction(function=lambda context: create_node_action(context, args))
]
)
orbbec_camera/src/ob_camera_node.cpp
+17 -14
View File
@@ -203,20 +203,23 @@ void OBCameraNode::setupDevices() {
RCLCPP_INFO_STREAM(logger_, "Create align filter");
align_filter_ = std::make_unique<ob::Align>(align_target_stream_);
}
if (disaparity_to_depth_mode_ == "HW") {
device_->setBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL, 1);
device_->setBoolProperty(OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL, 0);
RCLCPP_INFO_STREAM(logger_, "Depth process is HW");
} else if (disaparity_to_depth_mode_ == "SW") {
device_->setBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL, 0);
device_->setBoolProperty(OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL, 1);
RCLCPP_INFO_STREAM(logger_, "Depth process is SW");
} else if (disaparity_to_depth_mode_ == "disable") {
device_->setBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL, 0);
device_->setBoolProperty(OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL, 0);
RCLCPP_INFO_STREAM(logger_, "Depth process is disable");
} else {
RCLCPP_ERROR_STREAM(logger_, "Depth process is keep default");
if (device_->isPropertySupported(OB_PROP_DISPARITY_TO_DEPTH_BOOL, OB_PERMISSION_READ_WRITE) &&
device_->isPropertySupported(OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL, OB_PERMISSION_READ_WRITE)) {
if (disaparity_to_depth_mode_ == "HW") {
device_->setBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL, 1);
device_->setBoolProperty(OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL, 0);
RCLCPP_INFO_STREAM(logger_, "Depth process is HW");
} else if (disaparity_to_depth_mode_ == "SW") {
device_->setBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL, 0);
device_->setBoolProperty(OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL, 1);
RCLCPP_INFO_STREAM(logger_, "Depth process is SW");
} else if (disaparity_to_depth_mode_ == "disable") {
device_->setBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL, 0);
device_->setBoolProperty(OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL, 0);
RCLCPP_INFO_STREAM(logger_, "Depth process is disable");
} else {
RCLCPP_ERROR_STREAM(logger_, "Depth process is keep default");
}
}
if (device_->isPropertySupported(OB_PROP_LDP_BOOL, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting LDP to " << (enable_ldp_ ? "ON" : "OFF"));