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refactor: rename Gemini 301 series PID helper

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This commit is contained in:
ob-yalian
2026-09-15 15:51:42 +08:00
parent 162be38603
commit 68e51f7b9c
5 changed files with 22 additions and 22 deletions
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orbbec_camera/include/orbbec_camera/constants.h
+1 -1
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@@ -160,7 +160,7 @@ inline bool isGemini330SeriesPID(uint32_t pid) {
pid == GEMINI_331L_PID; pid == GEMINI_331L_PID;
} }
inline bool isGemini305SeriesPID(uint32_t pid) { inline bool isGemini301SeriesPID(uint32_t pid) {
return pid == GEMINI_305_PID || pid == GEMINI_305_PID2 || pid == GEMINI_305G_PID || return pid == GEMINI_305_PID || pid == GEMINI_305_PID2 || pid == GEMINI_305G_PID ||
pid == GEMINI_301G_PID || pid == GEMINI_309G_PID; pid == GEMINI_301G_PID || pid == GEMINI_309G_PID;
} }
orbbec_camera/src/ob_camera_node.cpp
+14 -14
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@@ -3249,7 +3249,7 @@ void OBCameraNode::setupLeftIrPostProcessFilter() {
} }
auto device_info = device_->getDeviceInfo(); auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info); CHECK_NOTNULL(device_info);
if (isGemini330SeriesPID(pid_) || isGemini305SeriesPID(pid_)) { if (isGemini330SeriesPID(pid_) || isGemini301SeriesPID(pid_)) {
auto left_ir_sensor = device_->getSensor(OB_SENSOR_IR_LEFT); auto left_ir_sensor = device_->getSensor(OB_SENSOR_IR_LEFT);
left_ir_filter_list_ = left_ir_sensor->createRecommendedFilters(); left_ir_filter_list_ = left_ir_sensor->createRecommendedFilters();
if (left_ir_filter_list_.empty()) { if (left_ir_filter_list_.empty()) {
@@ -3290,7 +3290,7 @@ void OBCameraNode::setupRightIrPostProcessFilter() {
} }
auto device_info = device_->getDeviceInfo(); auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info); CHECK_NOTNULL(device_info);
if (isGemini330SeriesPID(pid_) || isGemini305SeriesPID(pid_)) { if (isGemini330SeriesPID(pid_) || isGemini301SeriesPID(pid_)) {
auto right_ir_sensor = device_->getSensor(OB_SENSOR_IR_RIGHT); auto right_ir_sensor = device_->getSensor(OB_SENSOR_IR_RIGHT);
right_ir_filter_list_ = right_ir_sensor->createRecommendedFilters(); right_ir_filter_list_ = right_ir_sensor->createRecommendedFilters();
if (right_ir_filter_list_.empty()) { if (right_ir_filter_list_.empty()) {
@@ -3620,19 +3620,19 @@ void OBCameraNode::setupProfiles() {
format_[elem] == OB_FORMAT_UNKNOWN) { format_[elem] == OB_FORMAT_UNKNOWN) {
selected_profile = profiles->getProfile(0)->as<ob::VideoStreamProfile>(); selected_profile = profiles->getProfile(0)->as<ob::VideoStreamProfile>();
} else { } else {
if (isGemini305SeriesPID(pid_) && elem == DEPTH) { if (isGemini301SeriesPID(pid_) && elem == DEPTH) {
OBHardwareDecimationConfig conf; OBHardwareDecimationConfig conf;
conf.originWidth = width_[elem]; conf.originWidth = width_[elem];
conf.originHeight = height_[elem]; conf.originHeight = height_[elem];
conf.factor = depth_decimation_factor_; conf.factor = depth_decimation_factor_;
selected_profile = profiles->getVideoStreamProfile(conf, format_[elem], fps_[elem]); selected_profile = profiles->getVideoStreamProfile(conf, format_[elem], fps_[elem]);
} else if (isGemini305SeriesPID(pid_) && elem == INFRA1) { } else if (isGemini301SeriesPID(pid_) && elem == INFRA1) {
OBHardwareDecimationConfig conf; OBHardwareDecimationConfig conf;
conf.originWidth = width_[elem]; conf.originWidth = width_[elem];
conf.originHeight = height_[elem]; conf.originHeight = height_[elem];
conf.factor = left_ir_decimation_factor_; conf.factor = left_ir_decimation_factor_;
selected_profile = profiles->getVideoStreamProfile(conf, format_[elem], fps_[elem]); selected_profile = profiles->getVideoStreamProfile(conf, format_[elem], fps_[elem]);
} else if (isGemini305SeriesPID(pid_) && elem == INFRA2) { } else if (isGemini301SeriesPID(pid_) && elem == INFRA2) {
OBHardwareDecimationConfig conf; OBHardwareDecimationConfig conf;
conf.originWidth = width_[elem]; conf.originWidth = width_[elem];
conf.originHeight = height_[elem]; conf.originHeight = height_[elem];
@@ -3761,7 +3761,7 @@ void OBCameraNode::setupProfiles() {
bool OBCameraNode::validate301SeriesStreamFrameRates(const std::map<stream_index_pair, int> &fps, bool OBCameraNode::validate301SeriesStreamFrameRates(const std::map<stream_index_pair, int> &fps,
std::string &message) const { std::string &message) const {
if (!isGemini305SeriesPID(pid_)) { if (!isGemini301SeriesPID(pid_)) {
return true; return true;
} }
@@ -3823,19 +3823,19 @@ std::shared_ptr<ob::VideoStreamProfile> OBCameraNode::selectVideoStreamProfile(
std::shared_ptr<ob::VideoStreamProfile> selected_profile; std::shared_ptr<ob::VideoStreamProfile> selected_profile;
if (width == 0 && height == 0 && fps == 0) { if (width == 0 && height == 0 && fps == 0) {
selected_profile = profiles->getProfile(0)->as<ob::VideoStreamProfile>(); selected_profile = profiles->getProfile(0)->as<ob::VideoStreamProfile>();
} else if (!is_playback_device_ && isGemini305SeriesPID(pid_) && stream_index == DEPTH) { } else if (!is_playback_device_ && isGemini301SeriesPID(pid_) && stream_index == DEPTH) {
OBHardwareDecimationConfig conf; OBHardwareDecimationConfig conf;
conf.originWidth = width; conf.originWidth = width;
conf.originHeight = height; conf.originHeight = height;
conf.factor = depth_decimation_factor_; conf.factor = depth_decimation_factor_;
selected_profile = profiles->getVideoStreamProfile(conf, format, fps); selected_profile = profiles->getVideoStreamProfile(conf, format, fps);
} else if (!is_playback_device_ && isGemini305SeriesPID(pid_) && stream_index == INFRA1) { } else if (!is_playback_device_ && isGemini301SeriesPID(pid_) && stream_index == INFRA1) {
OBHardwareDecimationConfig conf; OBHardwareDecimationConfig conf;
conf.originWidth = width; conf.originWidth = width;
conf.originHeight = height; conf.originHeight = height;
conf.factor = left_ir_decimation_factor_; conf.factor = left_ir_decimation_factor_;
selected_profile = profiles->getVideoStreamProfile(conf, format, fps); selected_profile = profiles->getVideoStreamProfile(conf, format, fps);
} else if (!is_playback_device_ && isGemini305SeriesPID(pid_) && stream_index == INFRA2) { } else if (!is_playback_device_ && isGemini301SeriesPID(pid_) && stream_index == INFRA2) {
OBHardwareDecimationConfig conf; OBHardwareDecimationConfig conf;
conf.originWidth = width; conf.originWidth = width;
conf.originHeight = height; conf.originHeight = height;
@@ -6025,7 +6025,7 @@ cv::Mat OBCameraNode::colorizeDepthImage(const cv::Mat &depth_image,
cv::Mat depth_16u; cv::Mat depth_16u;
depth_image.convertTo(depth_16u, CV_16UC1); depth_image.convertTo(depth_16u, CV_16UC1);
const uint16_t min_depth = isGemini305SeriesPID(pid_) ? kViewerColorizerG305MinDistanceMm const uint16_t min_depth = isGemini301SeriesPID(pid_) ? kViewerColorizerG305MinDistanceMm
: kViewerColorizerDefaultMinDistanceMm; : kViewerColorizerDefaultMinDistanceMm;
const uint16_t max_depth = kViewerColorizerMaxDistanceMm; const uint16_t max_depth = kViewerColorizerMaxDistanceMm;
const uint32_t value_range = static_cast<uint32_t>(max_depth) - min_depth + 1; const uint32_t value_range = static_cast<uint32_t>(max_depth) - min_depth + 1;
@@ -6488,7 +6488,7 @@ void OBCameraNode::setDepthAutoExposureROI() {
if (depth_roi_has_run) { if (depth_roi_has_run) {
return; return;
} }
if (isGemini305SeriesPID(pid_) && ae_reference_stream_ == "color") { if (isGemini301SeriesPID(pid_) && ae_reference_stream_ == "color") {
RCLCPP_WARN_STREAM(logger_, "Skip setting depth AE ROI because AE Reference Stream is color"); RCLCPP_WARN_STREAM(logger_, "Skip setting depth AE ROI because AE Reference Stream is color");
depth_roi_has_run = true; depth_roi_has_run = true;
return; return;
@@ -6533,7 +6533,7 @@ void OBCameraNode::setColorAutoExposureROI() {
if (color_roi_has_run) { if (color_roi_has_run) {
return; return;
} }
if (isGemini305SeriesPID(pid_) && ae_reference_stream_ == "depth") { if (isGemini301SeriesPID(pid_) && ae_reference_stream_ == "depth") {
RCLCPP_WARN_STREAM(logger_, "Skip setting color AE ROI because AE Reference Stream is depth"); RCLCPP_WARN_STREAM(logger_, "Skip setting color AE ROI because AE Reference Stream is depth");
color_roi_has_run = true; color_roi_has_run = true;
return; return;
@@ -8091,7 +8091,7 @@ bool OBCameraNode::setupFormatConvertType(OBFormat format, ob::FormatConvertFilt
bool OBCameraNode::isGemini435LePID(uint32_t pid) { return pid == GEMINI_435Le_PID; } bool OBCameraNode::isGemini435LePID(uint32_t pid) { return pid == GEMINI_435Le_PID; }
bool OBCameraNode::isPublishMetaData(uint32_t pid) { bool OBCameraNode::isPublishMetaData(uint32_t pid) {
return isGemini330SeriesPID(pid) || isGemini435LePID(pid) || isGemini305SeriesPID(pid); return isGemini330SeriesPID(pid) || isGemini435LePID(pid) || isGemini301SeriesPID(pid);
} }
bool OBCameraNode::isDabaiASeriesForHwD2C(uint32_t pid) { bool OBCameraNode::isDabaiASeriesForHwD2C(uint32_t pid) {
@@ -8101,7 +8101,7 @@ bool OBCameraNode::isDabaiASeriesForHwD2C(uint32_t pid) {
bool OBCameraNode::isDepthWorkModeDevices(uint32_t pid) { return pid == GEMINI_435Le_PID; } bool OBCameraNode::isDepthWorkModeDevices(uint32_t pid) { return pid == GEMINI_435Le_PID; }
bool OBCameraNode::isnotLaserDevices(uint32_t pid) { return isGemini305SeriesPID(pid); } bool OBCameraNode::isnotLaserDevices(uint32_t pid) { return isGemini301SeriesPID(pid); }
orbbec_camera_msgs::msg::IMUInfo OBCameraNode::createIMUInfo( orbbec_camera_msgs::msg::IMUInfo OBCameraNode::createIMUInfo(
const stream_index_pair &stream_index) { const stream_index_pair &stream_index) {
orbbec_camera/src/ob_camera_node_driver.cpp
+3 -3
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@@ -1372,7 +1372,7 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
} }
const bool should_delay_stream_start = delay_stream_start_after_reconnect_.exchange(false) && const bool should_delay_stream_start = delay_stream_start_after_reconnect_.exchange(false) &&
isGemini305SeriesPID(device_info_->getPid()); isGemini301SeriesPID(device_info_->getPid());
if (should_delay_stream_start) { if (should_delay_stream_start) {
std::this_thread::sleep_for(kStreamStartDelayAfterReconnect); std::this_thread::sleep_for(kStreamStartDelayAfterReconnect);
} }
@@ -1604,8 +1604,8 @@ void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list
if (isGmslCameraPID(pid)) { if (isGmslCameraPID(pid)) {
ob_camera_node_->startGmslTrigger(); ob_camera_node_->startGmslTrigger();
} }
// if (isGemini305SeriesPID(pid)) { // if (isGemini301SeriesPID(pid)) {
// // Fixing 305 series hot-swap not outputting power // // Fixing 301 series hot-swap not outputting power
// ob_camera_node_->startStreams(); // ob_camera_node_->startStreams();
// } // }
} catch (ob::Error &e) { } catch (ob::Error &e) {
orbbec_camera/src/ros_service.cpp
+2 -2
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@@ -1128,13 +1128,13 @@ void OBCameraNode::setAeRoiCallback(const std::shared_ptr<SetArrays ::Request>&
std::shared_ptr<SetArrays::Response>& response, std::shared_ptr<SetArrays::Response>& response,
const stream_index_pair& stream_index) { const stream_index_pair& stream_index) {
auto stream = stream_index.first; auto stream = stream_index.first;
if (isGemini305SeriesPID(device_->getDeviceInfo()->getPid()) && if (isGemini301SeriesPID(device_->getDeviceInfo()->getPid()) &&
(stream != OB_STREAM_COLOR && ae_reference_stream_ == "color")) { (stream != OB_STREAM_COLOR && ae_reference_stream_ == "color")) {
response->success = false; response->success = false;
response->message = "AE Reference Stream is color, other sensors setting is not supported"; response->message = "AE Reference Stream is color, other sensors setting is not supported";
return; return;
} }
if (isGemini305SeriesPID(device_->getDeviceInfo()->getPid()) && if (isGemini301SeriesPID(device_->getDeviceInfo()->getPid()) &&
(stream != OB_STREAM_DEPTH && ae_reference_stream_ == "depth")) { (stream != OB_STREAM_DEPTH && ae_reference_stream_ == "depth")) {
response->success = false; response->success = false;
response->message = response->message =
orbbec_camera/tools/list_camera_profile.cpp
+2 -2
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@@ -145,8 +145,8 @@ void listSensorProfiles(const std::shared_ptr<ob::Device>& device) {
auto origin_profile = profile_list->getProfile(j); auto origin_profile = profile_list->getProfile(j);
if ((sensor->getType() == OB_SENSOR_DEPTH || sensor->getType() == OB_SENSOR_IR_LEFT || if ((sensor->getType() == OB_SENSOR_DEPTH || sensor->getType() == OB_SENSOR_IR_LEFT ||
sensor->getType() == OB_SENSOR_IR_RIGHT) && sensor->getType() == OB_SENSOR_IR_RIGHT) &&
isGemini305SeriesPID(pid)) { isGemini301SeriesPID(pid)) {
// Gemini 305 series // Gemini 301 series
auto profile = origin_profile->as<ob::VideoStreamProfile>(); auto profile = origin_profile->as<ob::VideoStreamProfile>();
std::cout << magic_enum::enum_name(sensor->getType()) << " profile: " << profile->getWidth() std::cout << magic_enum::enum_name(sensor->getType()) << " profile: " << profile->getWidth()
<< "x" << profile->getHeight() << " " << profile->getFps() << "fps " << "x" << profile->getHeight() << " " << profile->getFps() << "fps "