i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-04 12:07:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

[Max_Pro]Update orbbecSDK for support gemini uw depth 11bit

Browse Source
This commit is contained in:
lixiaobin
2023-11-15 17:14:21 +08:00
parent 46c85a226f
commit 499974f503
5 changed files with 117 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.8.1
BIN
View File
Binary file not shown.
orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.8.1
BIN
View File
Binary file not shown.
orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.8.1
BIN
View File
Binary file not shown.
orbbec_camera/launch/gemini_uw.launch.py
+113
View File
@@ -0,0 +1,113 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import PushRosNamespace
from launch.actions import GroupAction
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
from launch_ros.actions import Node
import os
def generate_launch_description():
# Declare arguments
args = [
DeclareLaunchArgument('camera_name', default_value='camera'),
DeclareLaunchArgument('depth_registration', default_value='false'),
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
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='640'),
DeclareLaunchArgument('color_height', default_value='480'),
DeclareLaunchArgument('color_fps', default_value='25'),
DeclareLaunchArgument('color_format', default_value='MJPG'),
DeclareLaunchArgument('enable_color', default_value='true'),
DeclareLaunchArgument('flip_color', 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('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='400'),
DeclareLaunchArgument('depth_fps', default_value='10'),
DeclareLaunchArgument('depth_format', default_value='Y12'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('flip_depth', default_value='false'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('ir_width', default_value='640'),
DeclareLaunchArgument('ir_height', default_value='400'),
DeclareLaunchArgument('ir_fps', default_value='10'),
DeclareLaunchArgument('ir_format', default_value='Y10'),
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('publish_tf', default_value='true'),
DeclareLaunchArgument('tf_publish_rate', default_value='10.0'),
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_soft_filter', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1')
]
# Node configuration
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
# get ROS_DISTRO
ros_distro = os.environ["ROS_DISTRO"]
if ros_distro == "foxy":
return LaunchDescription(
args
+ [
Node(
package="orbbec_camera",
executable="orbbec_camera_node",
name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
output="screen",
)
]
)
# Define the ComposableNode
else:
# Define the ComposableNode
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
compose_node,
],
output="screen",
)
# Launch description
ld = LaunchDescription(
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
)
]
)
return ld
orbbec_camera/src/ob_camera_node.cpp
+4
View File
@@ -665,8 +665,12 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &f
valid_count++; valid_count++;
} }
} }
auto timestamp = frameTimeStampToROSTime(depth_frame->systemTimeStamp()); auto timestamp = frameTimeStampToROSTime(depth_frame->systemTimeStamp());
// std::string frame_id =
// depth_registration_ ? depth_aligned_frame_id_[COLOR] : optical_frame_id_[DEPTH];
point_cloud_msg_.header.stamp = timestamp; point_cloud_msg_.header.stamp = timestamp;
//point_cloud_msg_.header.frame_id = frame_id;
point_cloud_msg_.header.frame_id = optical_frame_id_[DEPTH]; point_cloud_msg_.header.frame_id = optical_frame_id_[DEPTH];
point_cloud_msg_.is_dense = true; point_cloud_msg_.is_dense = true;
point_cloud_msg_.width = valid_count; point_cloud_msg_.width = valid_count;