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feat: enhance GMSL camera support and configuration options

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This commit is contained in:
ob-yalian
2026-08-11 16:44:22 +08:00
parent 280b3d05c9
commit 61ee663864
7 changed files with 49 additions and 14 deletions
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orbbec_camera/examples/README.MD
+1 -3
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@@ -7,8 +7,6 @@ These simple examples demonstrate how to easily use the camera with OrbbecSDK_RO
| Name | Description | Experience Level | Document |
| :---------------------------------------------------------------------------: | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------- | ----------------------------------------------------------------------------- |
| [Net_camera](./net_camera) | How to use Net camera in OrbbecSDK_ROS2(Only Femto Mega nad Gemini 335Le) | ⭐️ | [Net_camera](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/configuration/net_camera.html) |
| [Gmsl_camera](./gmsl_camera) | How to use GMSL camera.(Only Gemini 335Lg) | ⭐️ | [Gmsl_camera](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/multi_camera/gmsl_camera.html) |
| [Gmsl_camera](./gmsl_camera) | How to use GMSL cameras (Gemini 335Lg, 338Lg, 345Lg, and 305g). | ⭐️ | [Gmsl_camera](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/multi_camera/gmsl_camera.html) |
| [Benchmark](./benchmark) | The goal of this tool is to benchmark the performance of various OrbbecSDK_ROS2 camera configurations. | ⭐️⭐️ | [Benchmark](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/performance/benchmark.html) |
| [Multi_camera_synced_verification_tool](./multi_camera_synced_verification_tool) | How to verify the synchronization accuracy of multi-camera synchronization. | ⭐️⭐️⭐️ | [Multi_camera_synced_verification_tool](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html) |
orbbec_camera/examples/gmsl_camera/multi_gmsl_camera.launch.py
+19 -5
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@@ -11,6 +11,19 @@ from launch.substitutions import TextSubstitution
from launch_ros.descriptions import ComposableNode
GMSL_CAMERA_LAUNCH_DIRS = {
"gemini_330_gmsl.launch.py": ("examples", "gmsl_camera"), # Gemini 335Lg / 338Lg
"gemini_301_series.launch.py": ("launch",), # Gemini 305G / 309G
"gemini345_lg.launch.py": ("launch",), # Gemini 345Lg
}
def get_camera_launch_file(package_dir, launch_file_name):
return os.path.join(
package_dir, *GMSL_CAMERA_LAUNCH_DIRS[launch_file_name], launch_file_name
)
def load_yaml(file_path):
with open(file_path, "r") as f:
return yaml.safe_load(f)
@@ -43,9 +56,6 @@ def convert_value(value):
def generate_launch_description():
# Include launch files
package_dir = get_package_share_directory("orbbec_camera")
launch_file_dir = os.path.join(
package_dir, "examples/gmsl_camera" #or launch
)
config_file_dir = os.path.join(package_dir, "config")
secondary_config_file_path = os.path.join(config_file_dir, "camera_secondary_params.yaml")
@@ -67,8 +77,10 @@ def generate_launch_description():
attach_to_shared_component_container_arg = TextSubstitution(text="true")
launch1_include = IncludeLaunchDescription(
# Supported launch files: gemini_330_gmsl.launch.py, gemini_301_series.launch.py,
# and gemini345_lg.launch.py.
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py") #or gemini345_lg.launch.py
get_camera_launch_file(package_dir, "gemini_330_gmsl.launch.py")
),
launch_arguments={
"camera_name": "camera_01",
@@ -82,8 +94,10 @@ def generate_launch_description():
)
launch2_include = IncludeLaunchDescription(
# Supported launch files: gemini_330_gmsl.launch.py, gemini_301_series.launch.py,
# and gemini345_lg.launch.py.
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py")#or gemini345_lg.launch.py
get_camera_launch_file(package_dir, "gemini_330_gmsl.launch.py")
),
launch_arguments={
"camera_name": "camera_02",
orbbec_camera/examples/gmsl_camera/multi_gmsl_camera_synced.launch.py
+19 -5
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@@ -11,6 +11,19 @@ from launch.substitutions import TextSubstitution
from launch_ros.descriptions import ComposableNode
GMSL_CAMERA_LAUNCH_DIRS = {
"gemini_330_gmsl.launch.py": ("examples", "gmsl_camera"), # Gemini 335Lg / 338Lg
"gemini_301_series.launch.py": ("launch",), # Gemini 305G / 309G
"gemini345_lg.launch.py": ("launch",), # Gemini 345Lg
}
def get_camera_launch_file(package_dir, launch_file_name):
return os.path.join(
package_dir, *GMSL_CAMERA_LAUNCH_DIRS[launch_file_name], launch_file_name
)
def load_yaml(file_path):
with open(file_path, "r") as f:
return yaml.safe_load(f)
@@ -43,9 +56,6 @@ def convert_value(value):
def generate_launch_description():
# Include launch files
package_dir = get_package_share_directory("orbbec_camera")
launch_file_dir = os.path.join(
package_dir, "examples/gmsl_camera"
)
config_file_dir = os.path.join(package_dir, "config")
secondary_config_file_path = os.path.join(config_file_dir, "camera_secondary_params.yaml")
@@ -67,8 +77,10 @@ def generate_launch_description():
attach_to_shared_component_container_arg = TextSubstitution(text="true")
launch1_include = IncludeLaunchDescription(
# Supported launch files: gemini_330_gmsl.launch.py, gemini_301_series.launch.py,
# and gemini345_lg.launch.py.
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py")
get_camera_launch_file(package_dir, "gemini_330_gmsl.launch.py")
),
launch_arguments={
"camera_name": "camera_01",
@@ -84,8 +96,10 @@ def generate_launch_description():
)
launch2_include = IncludeLaunchDescription(
# Supported launch files: gemini_330_gmsl.launch.py, gemini_301_series.launch.py,
# and gemini345_lg.launch.py.
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py")
get_camera_launch_file(package_dir, "gemini_330_gmsl.launch.py")
),
launch_arguments={
"camera_name": "camera_02",
orbbec_camera/include/orbbec_camera/constants.h
+5
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@@ -154,4 +154,9 @@ inline bool isGemini305SeriesPID(uint32_t pid) {
pid == GEMINI_309G_PID;
}
inline bool isGmslCameraPID(uint32_t pid) {
return pid == GEMINI_335LG_PID || pid == GEMINI_338LG_PID || pid == GEMINI_345LG_PID ||
pid == GEMINI_305G_PID || pid == GEMINI_309G_PID;
}
} // namespace orbbec_camera
orbbec_camera/launch/gemini345_lg.launch.py
+2
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@@ -222,6 +222,8 @@ def generate_launch_description():
DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('enable_firmware_log', default_value='false'),
DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
#color image transport plugins
DeclareLaunchArgument('color.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
orbbec_camera/launch/gemini_301_series.launch.py
+2
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@@ -274,6 +274,8 @@ def generate_launch_description():
DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('enable_firmware_log', default_value='false'),
DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
DeclareLaunchArgument('disparity_range_mode', default_value='-1'),
DeclareLaunchArgument('disparity_search_offset', default_value='-1'),
DeclareLaunchArgument('disparity_offset_config', default_value='false'),
orbbec_camera/src/ob_camera_node_driver.cpp
+1 -1
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@@ -1589,7 +1589,7 @@ void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list
}
auto pid = device->getDeviceInfo()->getPid();
if (GEMINI_335LG_PID == pid || GEMINI_338LG_PID == pid) {
if (isGmslCameraPID(pid)) {
ob_camera_node_->startGmslTrigger();
}
// if (isGemini305SeriesPID(pid)) {