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chore: Update launch file for gemini2RF

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This commit is contained in:
Joe Dong
2024-05-08 20:59:49 +08:00
parent 7fcf3f899e
commit 6a809aba00
7 changed files with 187 additions and 169 deletions
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orbbec_camera/src/ob_camera_node.cpp
+44 -2
View File
@@ -333,6 +333,42 @@ void OBCameraNode::selectBaseStream() {
base_stream_ = COLOR;
}
}
void OBCameraNode::printSensorProfiles(const std::shared_ptr<ob::Sensor> &sensor) {
auto profiles = sensor->getStreamProfileList();
for (size_t i = 0; i < profiles->count(); i++) {
auto origin_profile = profiles->getProfile(i);
if (sensor->type() == OB_SENSOR_COLOR) {
auto profile = origin_profile->as<ob::VideoStreamProfile>();
RCLCPP_INFO_STREAM(logger_, "color profile: " << profile->width() << "x" << profile->height()
<< " " << profile->fps() << "fps "
<< profile->format());
} else if (sensor->type() == OB_SENSOR_DEPTH) {
auto profile = origin_profile->as<ob::VideoStreamProfile>();
RCLCPP_INFO_STREAM(logger_, "depth profile: " << profile->width() << "x" << profile->height()
<< " " << profile->fps() << "fps "
<< profile->format());
} else if (sensor->type() == OB_SENSOR_IR) {
auto profile = origin_profile->as<ob::VideoStreamProfile>();
RCLCPP_INFO_STREAM(logger_, "ir profile: " << profile->width() << "x" << profile->height()
<< " " << profile->fps() << "fps "
<< profile->format());
} else if (sensor->type() == OB_SENSOR_ACCEL) {
auto profile = origin_profile->as<ob::AccelStreamProfile>();
RCLCPP_INFO_STREAM(logger_, "accel profile: sampleRate " << profile->sampleRate()
<< " full scale_range "
<< profile->fullScaleRange());
} else if (sensor->type() == OB_SENSOR_GYRO) {
auto profile = origin_profile->as<ob::GyroStreamProfile>();
RCLCPP_INFO_STREAM(logger_, "gyro profile: sampleRate " << profile->sampleRate()
<< " full scale_range "
<< profile->fullScaleRange());
} else {
RCLCPP_INFO_STREAM(logger_, "unknown profile: " << magic_enum::enum_name(sensor->type()));
}
}
}
void OBCameraNode::setupProfiles() {
// Image stream
for (const auto &elem : IMAGE_STREAMS) {
@@ -360,12 +396,17 @@ void OBCameraNode::setupProfiles() {
profiles->getVideoStreamProfile(width_[elem], height_[elem], format_[elem]);
} catch (const ob::Error &ex) {
RCLCPP_ERROR_STREAM(
logger_, "Failed to get " << stream_name_[elem] << " << profile: " << ex.getMessage());
logger_, "Failed to get " << stream_name_[elem] << " profile: " << ex.getMessage());
RCLCPP_ERROR_STREAM(
logger_, "Stream: " << magic_enum::enum_name(elem.first)
<< ", Stream Index: " << elem.second << ", Width: " << width_[elem]
<< ", Height: " << height_[elem] << ", FPS: " << fps_[elem]
<< ", Format: " << magic_enum::enum_name(format_[elem]));
RCLCPP_ERROR(logger_,
"Error: The device might be connected via USB 2.0. Please verify your "
"configuration and try again. The current process will now exit.");
RCLCPP_INFO_STREAM(logger_, "Available profiles:");
printSensorProfiles(sensor);
exit(-1);
}
@@ -745,7 +786,8 @@ void OBCameraNode::getParameters() {
std::string align_target_stream_str_;
setAndGetNodeParameter<std::string>(align_target_stream_str_, "align_target_stream", "COLOR");
align_target_stream_ = obStreamTypeFromString(align_target_stream_str_);
setAndGetNodeParameter<bool>(retry_on_usb3_detection_failure_, "retry_on_usb3_detection_failure", false);
setAndGetNodeParameter<bool>(retry_on_usb3_detection_failure_, "retry_on_usb3_detection_failure",
false);
}
void OBCameraNode::setupTopics() {
orbbec_camera/src/utils.cpp
+121
View File
@@ -313,11 +313,111 @@ OBFormat OBFormatFromString(const std::string &format) {
return OB_FORMAT_BGR;
} else if (fixed_format == "Y14") {
return OB_FORMAT_Y14;
} else if (fixed_format == "BGRA") {
return OB_FORMAT_BGRA;
} else if (fixed_format == "COMPRESSED") {
return OB_FORMAT_COMPRESSED;
} else if (fixed_format == "RVL") {
return OB_FORMAT_RVL;
} else if (fixed_format == "Z16") {
return OB_FORMAT_Z16;
} else if (fixed_format == "YV12") {
return OB_FORMAT_YV12;
} else if (fixed_format == "BA81") {
return OB_FORMAT_BA81;
} else if (fixed_format == "RGBA") {
return OB_FORMAT_RGBA;
} else if (fixed_format == "BYR2") {
return OB_FORMAT_BYR2;
} else if (fixed_format == "RW16") {
return OB_FORMAT_RW16;
} else if (fixed_format == "DISP16") {
return OB_FORMAT_DISP16;
} else {
return OB_FORMAT_UNKNOWN;
}
}
std::string OBFormatToString(const OBFormat &format) {
switch (format) {
case OB_FORMAT_MJPG:
return "MJPG";
case OB_FORMAT_YUYV:
return "YUYV";
case OB_FORMAT_YUY2:
return "YUYV2";
case OB_FORMAT_UYVY:
return "UYVY";
case OB_FORMAT_NV12:
return "NV12";
case OB_FORMAT_NV21:
return "NV21";
case OB_FORMAT_H264:
return "H264";
case OB_FORMAT_H265:
return "H265";
case OB_FORMAT_Y16:
return "Y16";
case OB_FORMAT_Y8:
return "Y8";
case OB_FORMAT_Y10:
return "Y10";
case OB_FORMAT_Y11:
return "Y11";
case OB_FORMAT_Y12:
return "Y12";
case OB_FORMAT_GRAY:
return "GRAY";
case OB_FORMAT_HEVC:
return "HEVC";
case OB_FORMAT_I420:
return "I420";
case OB_FORMAT_ACCEL:
return "ACCEL";
case OB_FORMAT_GYRO:
return "GYRO";
case OB_FORMAT_POINT:
return "POINT";
case OB_FORMAT_RGB_POINT:
return "RGB_POINT";
case OB_FORMAT_RLE:
return "REL";
case OB_FORMAT_RGB888:
return "RGB888";
case OB_FORMAT_BGR:
return "BGR";
case OB_FORMAT_Y14:
return "Y14";
case OB_FORMAT_BGRA:
return "BGRA";
case OB_FORMAT_COMPRESSED:
return "COMPRESSED";
case OB_FORMAT_RVL:
return "RVL";
case OB_FORMAT_Z16:
return "Z16";
case OB_FORMAT_YV12:
return "YV12";
case OB_FORMAT_BA81:
return "BA81";
case OB_FORMAT_RGBA:
return "RGBA";
case OB_FORMAT_BYR2:
return "BYR2";
case OB_FORMAT_RW16:
return "RW16";
case OB_FORMAT_DISP16:
return "DISP16";
default:
return "UNKNOWN";
}
}
std::ostream &operator<<(std::ostream &os, const OBFormat &rhs) {
os << OBFormatToString(rhs);
return os;
}
std::string ObDeviceTypeToString(const OBDeviceType &type) {
switch (type) {
case OBDeviceType::OB_STRUCTURED_LIGHT_BINOCULAR_CAMERA:
@@ -490,6 +590,11 @@ std::string sampleRateToString(const OB_SAMPLE_RATE &sample_rate) {
}
}
std::ostream &operator<<(std::ostream &os, const OB_SAMPLE_RATE &rhs) {
os << sampleRateToString(rhs);
return os;
}
OB_GYRO_FULL_SCALE_RANGE fullGyroScaleRangeFromString(std::string &full_scale_range) {
std::transform(full_scale_range.begin(), full_scale_range.end(), full_scale_range.begin(),
::tolower);
@@ -539,6 +644,11 @@ std::string fullGyroScaleRangeToString(const OB_GYRO_FULL_SCALE_RANGE &full_scal
}
}
std::ostream &operator<<(std::ostream &os, const OB_GYRO_FULL_SCALE_RANGE &rhs) {
os << fullGyroScaleRangeToString(rhs);
return os;
}
OBAccelFullScaleRange fullAccelScaleRangeFromString(std::string &full_scale_range) {
std::transform(full_scale_range.begin(), full_scale_range.end(), full_scale_range.begin(),
::tolower);
@@ -572,6 +682,11 @@ std::string fullAccelScaleRangeToString(const OBAccelFullScaleRange &full_scale_
}
}
std::ostream &operator<<(std::ostream &os, const OBAccelFullScaleRange &rhs) {
os << fullAccelScaleRangeToString(rhs);
return os;
}
std::string parseUsbPort(const std::string &line) {
std::string port_id;
std::regex self_regex("(?:[^ ]+/usb[0-9]+[0-9./-]*/){0,1}([0-9.-]+)(:){0,1}[^ ]*",
@@ -676,6 +791,12 @@ std::string metaDataTypeToString(const OBFrameMetadataType &meta_data_type) {
return "unknown_field";
}
}
std::ostream &operator<<(std::ostream &os, const OBFrameMetadataType &rhs) {
os << metaDataTypeToString(rhs);
return os;
}
OBHoleFillingMode holeFillingModeFromString(const std::string &hole_filling_mode) {
if (hole_filling_mode == "FILL_TOP") {
return OB_HOLE_FILL_TOP;