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modify for 4 G335L multi camera sync

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datean
2024-11-20 14:10:44 +08:00
parent b9c8edf3b1
commit 4ca6f60a81
4 changed files with 42 additions and 53 deletions
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orbbec_camera/config/tools/multisavergbir/multi_save_rgbir_params.json
+10 -7
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@@ -2,19 +2,22 @@
"save_rgbir_params": { "save_rgbir_params": {
"image_number": "100", "image_number": "100",
"usb_ports": [ "usb_ports": [
"2-7",
"2-2", "2-2",
"2-3.3",
"2-3.1",
"2-1" "2-1"
], ],
"ir_topics": [ "ir_topics": [
"/G0_4J/left_ir/image_raw", "/G0_51/left_ir/image_raw",
"/G1_F0/left_ir/image_raw", "/G1_54/left_ir/image_raw",
"/G2_15/left_ir/image_raw" "/G2_5Y/left_ir/image_raw",
"/G3_47/left_ir/image_raw"
], ],
"color_topics": [ "color_topics": [
"/G0_4J/color/image_raw", "/G0_51/color/image_raw",
"/G1_F0/color/image_raw", "/G1_54/color/image_raw",
"/G2_15/color/image_raw" "/G2_5Y/color/image_raw",
"/G3_47/color/image_raw"
] ]
} }
} }
orbbec_camera/launch/gemini_330_series_interleave_laser_g335.launch.py
+1 -1
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@@ -184,7 +184,7 @@ def generate_launch_description():
DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser' DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
DeclareLaunchArgument('interleave_frame_enable', default_value='true'), DeclareLaunchArgument('interleave_frame_enable', default_value='true'),
DeclareLaunchArgument('interleave_skip_enable', default_value='true'), DeclareLaunchArgument('interleave_skip_enable', default_value='true'),
DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:partern ir 1:flood ir DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir 1: skip flood ir
] ]
def get_params(context, args): def get_params(context, args):
orbbec_camera/launch/gemini_330_series_interleave_laser_g335L.launch.py
+1 -1
View File
@@ -184,7 +184,7 @@ def generate_launch_description():
DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser' DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
DeclareLaunchArgument('interleave_frame_enable', default_value='true'), DeclareLaunchArgument('interleave_frame_enable', default_value='true'),
DeclareLaunchArgument('interleave_skip_enable', default_value='false'), DeclareLaunchArgument('interleave_skip_enable', default_value='false'),
DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:partern ir 1:flood ir DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir 1: skip flood ir
] ]
def get_params(context, args): def get_params(context, args):
orbbec_camera/launch/multi_camera_synced.launch.py
+30 -44
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@@ -13,67 +13,54 @@ def generate_launch_description():
config_file_dir = os.path.join(package_dir, "config") config_file_dir = os.path.join(package_dir, "config")
config_file_path = os.path.join(config_file_dir, "camera_params.yaml") config_file_path = os.path.join(config_file_dir, "camera_params.yaml")
G0_4J = IncludeLaunchDescription( G0_51 = IncludeLaunchDescription(
PythonLaunchDescriptionSource( PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py") os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
), ),
launch_arguments={ launch_arguments={
"camera_name": "G0_4J", "camera_name": "G0_51",
"usb_port": "2-7", "usb_port": "2-2",
"device_num": "5", "device_num": "4",
"sync_mode": "standalone", "sync_mode": "primary",
"enable_left_ir":"true", "enable_left_ir":"true",
"config_file_path": config_file_path, "config_file_path": config_file_path,
}.items(), }.items(),
) )
G1_F0 = IncludeLaunchDescription( G1_54 = IncludeLaunchDescription(
PythonLaunchDescriptionSource( PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py") os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
), ),
launch_arguments={ launch_arguments={
"camera_name": "G1_F0", "camera_name": "G1_54",
"usb_port": "2-2", "usb_port": "2-3.3",
"device_num": "5", "device_num": "4",
"sync_mode": "standalone",
"enable_left_ir":"true",
"config_file_path": config_file_path,
}.items(),
)
G2_15 = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
),
launch_arguments={
"camera_name": "G2_15",
"usb_port": "2-1",
"device_num": "5",
"sync_mode": "standalone",
"enable_left_ir":"true",
"config_file_path": config_file_path,
}.items(),
)
G3_1M = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
),
launch_arguments={
"camera_name": "G3_1M",
"usb_port": "2-1.4.3",
"device_num": "5",
"sync_mode": "secondary_synced", "sync_mode": "secondary_synced",
"enable_left_ir":"true", "enable_left_ir":"true",
"config_file_path": config_file_path, "config_file_path": config_file_path,
}.items(), }.items(),
) )
G4_74 = IncludeLaunchDescription( G2_5Y = IncludeLaunchDescription(
PythonLaunchDescriptionSource( PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py") os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
), ),
launch_arguments={ launch_arguments={
"camera_name": "G4_74", "camera_name": "G2_5Y",
"usb_port": "2-1.4.4.1", "usb_port": "2-3.1",
"device_num": "5", "device_num": "4",
"sync_mode": "secondary_synced",
"enable_left_ir":"true",
"config_file_path": config_file_path,
}.items(),
)
G3_47 = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
),
launch_arguments={
"camera_name": "G3_47",
"usb_port": "2-1",
"device_num": "4",
"sync_mode": "secondary_synced", "sync_mode": "secondary_synced",
"enable_left_ir":"true", "enable_left_ir":"true",
"config_file_path": config_file_path, "config_file_path": config_file_path,
@@ -95,11 +82,10 @@ def generate_launch_description():
TimerAction( TimerAction(
period=2.0, period=2.0,
actions=[ actions=[
TimerAction(period=0.2, actions=[GroupAction([G1_F0])]), TimerAction(period=0.5, actions=[GroupAction([G1_54])]),
TimerAction(period=0.2, actions=[GroupAction([G2_15])]), TimerAction(period=0.5, actions=[GroupAction([G2_5Y])]),
# TimerAction(period=0.2, actions=[GroupAction([G3_1M])]), TimerAction(period=0.5, actions=[GroupAction([G3_47])]),
# TimerAction(period=0.2, actions=[GroupAction([G4_74])]), TimerAction(period=0.5, actions=[GroupAction([G0_51])]),
TimerAction(period=0.2, actions=[GroupAction([G0_4J])]),
], ],
), ),
# The primary camera should be launched at last # The primary camera should be launched at last