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add gmsl support

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datean
2024-12-05 11:11:26 +08:00
parent 49bf5898c2
commit 60cda1cf5e
5 changed files with 32 additions and 13 deletions
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orbbec_camera/launch/gemini_330_series_interleave_laser_g335L.launch.py
+3 -1
View File
@@ -65,7 +65,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_width', default_value='0'),
DeclareLaunchArgument('color_height', default_value='0'),
DeclareLaunchArgument('color_fps', default_value='30'),
DeclareLaunchArgument('color_format', default_value='MJPG'),
DeclareLaunchArgument('color_format', default_value='YUYV'),
DeclareLaunchArgument('enable_color', default_value='true'),
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
@@ -191,6 +191,8 @@ def generate_launch_description():
DeclareLaunchArgument('component_container_name', default_value='shared_orbbec_container'),
DeclareLaunchArgument('delta_duration', default_value='1000.0'),
DeclareLaunchArgument('delta_fps', default_value='1'),
DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
]
def get_params(context, args):
orbbec_camera/launch/multi_camera_synced.launch.py
+12 -5
View File
@@ -45,13 +45,17 @@ def generate_launch_description():
),
launch_arguments={
"camera_name": "front_camera",
"usb_port": "2-1",
# "usb_port": "2-1",
"usb_port": "gmsl2-4",
"device_num": "4",
"sync_mode": "primary",
# "sync_mode": "primary",
"sync_mode": "secondary_synced",
"config_file_path": config_file_path,
'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms"),
'attach_to_shared_component_container': attach_to_shared_component_container_arg,
'component_container_name': component_container_name_arg,
'gmsl_trigger_fps': "5990",
'enable_gmsl_trigger': "true",
}.items(),
)
left_camera = IncludeLaunchDescription(
@@ -60,7 +64,8 @@ def generate_launch_description():
),
launch_arguments={
"camera_name": "left_camera",
"usb_port": "2-3.1",
# "usb_port": "2-3.1",
"usb_port": "gmsl2-3",
"device_num": "4",
"sync_mode": "secondary_synced",
"config_file_path": config_file_path,
@@ -75,7 +80,8 @@ def generate_launch_description():
),
launch_arguments={
"camera_name": "right_camera",
"usb_port": "2-3.3",
# "usb_port": "2-3.3",
"usb_port": "gmsl2-1",
"device_num": "4",
"sync_mode": "secondary_synced",
"config_file_path": config_file_path,
@@ -90,7 +96,8 @@ def generate_launch_description():
),
launch_arguments={
"camera_name": "rear_camera",
"usb_port": "2-2",
# "usb_port": "2-2",
"usb_port": "gmsl2-7",
"device_num": "4",
"sync_mode": "secondary_synced",
"config_file_path": config_file_path,