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Update orbbec_camera package to be compatible with cuvslam

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jj
2025-04-26 18:12:18 +08:00
parent 3c4764f8ca
commit 5bd616cb90
213 changed files with 2964 additions and 7751 deletions
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orbbec_camera/config/femto.yaml
+74 -30
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@@ -9,77 +9,121 @@ orbbec_ros:
config_file_path: "femto.yaml"
deivce:
# camera name, usually overwritten by launch file
camera_name: "camera"
# camera serial number, usually overwritten by launch file
serial_number: ""
# The USB port of the camera. This parameter is required when using multiple cameras.
usb_port: ""
# Number of devices. If multiple cameras are required, this parameter must be filled in launch file
device_num: 1
uvc_backend: "libuvc"
product_id: ""
# The delay time for reopening the device, in milliseconds. Usually, there is no need to modify by default.
connection_delay: 100
time_domain: "global"
# If true, the heartbeat will be enabled
enable_heartbeat: false
# If true, the LDP will be enabled
enable_ldp: true
network_device:
# Whether to enable the function of enumerating network devices. True means enabled and false means disabled. This function is only supported by Femto Mega and Gemini 2 XL devices.
# When accessing these devices through the network, the IP address of the device needs to be preconfigured. The enable switch needs to be set to true.
enumerate_net_device: false
# Port number of the network device. If 0, a random port will be used
net_device_port: 0
# IP address of the network device.
net_device_ip: ""
color:
# If true, the color image will be enabled
enable_color: true
color_qos: "default"
color_camera_info_qos: "default"
# Width of the color image. If 0, the default width will be used
color_width: 640
# Height of the color image. If 0, the default height will be used
color_height: 480
# If 0, the default FPS will be used
color_fps: 30
# Format of the color image.
color_format: "MJPG"
enable_color_auto_white_balance: true
color_white_balance: -1
color_auto_ae:
enable_color_auto_exposure: true
color_ae_max_exposure: -1
color_manual_ae:
color_exposure: -1
color_gain: -1
color_brightness: -1
depth:
# If true, the depth image will be enabled
enable_depth: true
depth_qos: "default"
depth_camera_info_qos: "default"
# Width of the depth image. If 0, the default width will be used
depth_width: 640
depth_height: 576
# Height of the depth image. If 0, the default height will be used
depth_height: 480
# fps of the depth image. If 0, the default FPS will be used
depth_fps: 30
# Format of the depth image.
depth_format: "Y16"
# Depth registration enable
depth_registration: false
# The alignment mode to be used. Options are "HW" for hardware alignment and "SW" for software alignment
align_mode: "HW"
ir:
# If false, the left IR image will not be enabled
enable_ir: true
ir_qos: "default"
ir_camera_info_qos: "default"
# Width of the left IR image. If 0, the default width will be used
ir_width: 640
ir_height: 576
# Height of the left IR image. If 0, the default height will be used
ir_height: 480
# Fps of the left IR image. If 0, the default FPS will be used
ir_fps: 30
# Format of the left IR image. Supported formats are 'Y8'
ir_format: "Y16"
ir_parameters:
enable_ir_auto_exposure: true
ir_ae_max_exposure: -1
ir_exposure: -1
ir_gain: -1
ir_brightness: -1
imu:
# If true, the IMU accelerometer data will be enabled
enable_accel: false
# Rate of the
accel_rate: "100hz"
# Range of the accelerometer.
accel_range: "4g"
# If true, the IMU gyroscope data will be enabled
enable_gyro: false
# Rate of the gyroscope.
gyro_rate: "100hz"
# Range of the gyroscope.
gyro_range: "1000dps"
# enable_sync_output_accel_gyro
enable_sync_output_accel_gyro: true
liner_accel_cov: 0.01
angular_vel_cov: 0.01
point_cloud:
# If true, the point cloud will be enabled
enable_point_cloud: true
# enable color point cloud. {fase:disable, true:enable}
enable_colored_point_cloud: false
advanced:
enable_frame_sync: true
# If true, the extrinsics publish will be enabled
enable_publish_extrinsic: false
# If true, the frame synchronization will be enabled
enable_frame_sync: false
# If true, Overlay display of color image and depth image after D2C processing will be enabled
enable_d2c_viewer: false
# If false, the hardware time will not be used
use_hardware_time: false
# If false, the host time will not be synchronized with the device time
enable_sync_host_time: false
device_sync:
# Device synchronization mode. supports: {1.FREE_RUN 2.STANDALONE 3.PRIMARY 4.SECONDARY 5.SECONDARY_SYNCED 6.SOFTWARE_TRIGGERING 7.HARDWARE_TRIGGERING}.
# For details, Please refer to the OBMultiDeviceSyncMode-related comments in SDK/include/libobsensor/ObTypes.h for a detailed explanation of each mode.
sync_mode: "STANDALONE"
# The delay time of the depth image capture after receiving the capture command or trigger signal in microseconds.
# For details, Please refer to the OBMultiDeviceSyncConfig-related comments in SDK/include/libobsensor/ObTypes.h
depth_delay_us: 0
# The delay time of the color image capture after receiving the capture command or trigger signal in microseconds.
color_delay_us: 0
# The delay time of the image capture after receiving the capture command or trigger signal in microseconds.
trigger2image_delay_us: 0
# Trigger signal output enable flag.
trigger_out_enabled: true
# The delay time of the trigger signal output after receiving the capture command or trigger signal in microseconds.
trigger_out_delay_us: 0
# The frame number of each stream after each trigger in triggering mode.
frames_per_trigger: 2
# software trigger period in ms
software_trigger_period: 33