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fixed depth point cloud Y mirrored

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This commit is contained in:
Joe Dong
2024-09-30 15:54:33 +08:00
parent a1d3c2a176
commit 6f53ba8439
5 changed files with 76 additions and 29 deletions
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orbbec_camera/include/orbbec_camera/constants.h
+2
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@@ -112,6 +112,8 @@ const int32_t OPENNI_END_PID = 0x06FF;
const int32_t ASTRA_MINI_PID = 0x0404;
const int32_t ASTRA_MINI_S_PID = 0x0407;
const int GEMINI2_PID = 0x0670;
const int GEMINI2L_PID = 0x0673;
const int GEMINI2R_PID = 0x06d0;
const int GEMINI2RL_PID = 0x06d1;
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+5
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@@ -560,6 +560,11 @@ class OBCameraNode {
uint32_t xy_table_data_size_ = 0;
uint8_t* rgb_point_cloud_buffer_ = nullptr;
uint32_t rgb_point_cloud_buffer_size_ = 0;
std::optional<OBXYTables> depth_xy_tables_;
float* depth_xy_table_data_ = nullptr;
uint32_t depth_xy_table_data_size_ = 0;
uint8_t* depth_point_cloud_buffer_ = nullptr;
uint32_t depth_point_cloud_buffer_size_ = 0;
bool enable_3d_reconstruction_mode_ = false;
int min_depth_limit_ = 0;
int max_depth_limit_ = 0;
orbbec_camera/launch/gemini_330_series.launch.py
+1 -1
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@@ -58,7 +58,7 @@ def generate_launch_description():
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('color_width', default_value='0'),
orbbec_camera/src/ob_camera_node.cpp
+67 -27
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@@ -122,18 +122,21 @@ void OBCameraNode::clean() noexcept {
RCLCPP_WARN_STREAM(logger_, "stop streams");
stopStreams();
stopIMU();
if (rgb_buffer_) {
delete[] rgb_buffer_;
rgb_buffer_ = nullptr;
}
if (rgb_point_cloud_buffer_) {
delete[] rgb_point_cloud_buffer_;
rgb_point_cloud_buffer_ = nullptr;
}
if (xy_table_data_) {
delete[] xy_table_data_;
xy_table_data_ = nullptr;
}
delete[] rgb_buffer_;
rgb_buffer_ = nullptr;
delete[] rgb_point_cloud_buffer_;
rgb_point_cloud_buffer_ = nullptr;
delete[] xy_table_data_;
xy_table_data_ = nullptr;
delete[] depth_xy_table_data_;
depth_xy_table_data_ = nullptr;
delete[] depth_point_cloud_buffer_;
depth_point_cloud_buffer_ = nullptr;
RCLCPP_WARN_STREAM(logger_, "Destroy ~OBCameraNode DONE");
}
@@ -1399,30 +1402,68 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &f
RCLCPP_ERROR_STREAM(logger_, "depth frame is null");
return;
}
auto depth_width = depth_frame->getWidth();
auto depth_height = depth_frame->getHeight();
CHECK_NOTNULL(pipeline_);
auto camera_params = pipeline_->getCameraParam();
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info.get());
auto pid = device_info->getPid();
if (depth_registration_ || pid == DABAI_MAX_PID) {
camera_params.depthIntrinsic = camera_params.rgbIntrinsic;
if (!depth_xy_tables_.has_value()) {
RCLCPP_INFO(logger_, "Update depth xy tables");
try {
calibration_param_ = pipeline_->getCalibrationParam(pipeline_config_);
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to get calibration param: " << e.getMessage());
throw;
}
uint32_t table_size =
depth_width * depth_height * 2; // one for x-coordinate and one for y-coordinate LUT
if (depth_xy_table_data_size_ != table_size) {
RCLCPP_INFO_STREAM(logger_, "Update depth xy tables with size " << table_size);
depth_xy_table_data_size_ = table_size;
delete[] depth_xy_table_data_;
depth_xy_table_data_ = new float[table_size];
}
depth_xy_tables_ = OBXYTables();
CHECK_NOTNULL(depth_xy_table_data_);
auto align_sensor = depth_registration_ ? OB_SENSOR_COLOR : OB_SENSOR_DEPTH;
if (pid == DABAI_MAX_PID) {
align_sensor = OB_SENSOR_COLOR;
}
if (!ob::CoordinateTransformHelper::transformationInitXYTables(
*calibration_param_, align_sensor, depth_xy_table_data_, &table_size,
&(*depth_xy_tables_))) {
RCLCPP_ERROR_STREAM(logger_, "Failed to init depth xy tables");
return;
}
}
depth_point_cloud_filter_.setCameraParam(camera_params);
float depth_scale = depth_frame->getValueScale();
depth_point_cloud_filter_.setPositionDataScaled(depth_scale);
depth_point_cloud_filter_.setCreatePointFormat(OB_FORMAT_POINT);
auto result_frame = depth_point_cloud_filter_.process(depth_frame);
if (!result_frame) {
RCLCPP_ERROR_STREAM(logger_, "Failed to process depth frame");
const auto *depth_data = depth_frame->getData();
if (depth_data == nullptr) {
RCLCPP_ERROR_STREAM(logger_, "depth data is empty");
return;
}
auto point_size = result_frame->getDataSize() / sizeof(OBPoint);
auto *points = reinterpret_cast<OBPoint *>(result_frame->getData());
uint32_t point_cloud_buffer_size = depth_width * depth_height * sizeof(OBPoint);
if (point_cloud_buffer_size > depth_point_cloud_buffer_size_) {
RCLCPP_INFO(logger_, "Update depth point cloud buffer size to %d", point_cloud_buffer_size);
delete[] depth_point_cloud_buffer_;
depth_point_cloud_buffer_ = new uint8_t[point_cloud_buffer_size];
depth_point_cloud_buffer_size_ = point_cloud_buffer_size;
}
memset(depth_point_cloud_buffer_, 0, depth_point_cloud_buffer_size_);
auto *point_cloud = reinterpret_cast<OBPoint *>(depth_point_cloud_buffer_);
ob::CoordinateTransformHelper::transformationDepthToPointCloud(&(*depth_xy_tables_), depth_data,
point_cloud);
auto point_size = depth_point_cloud_buffer_size_ / sizeof(OBPoint);
auto *points = reinterpret_cast<OBPoint *>(depth_point_cloud_buffer_);
auto width = depth_frame->getWidth();
auto height = depth_frame->getHeight();
auto depth_scale = depth_frame->getValueScale();
auto point_cloud_msg = std::make_unique<sensor_msgs::msg::PointCloud2>();
sensor_msgs::PointCloud2Modifier modifier(*point_cloud_msg);
modifier.setPointCloud2FieldsByString(1, "xyz");
@@ -1444,7 +1485,7 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &f
bool valid_point = points[i].z >= min_depth && points[i].z <= max_depth;
if (valid_point || ordered_pc_) {
*iter_x = static_cast<float>(points[i].x / 1000.0);
*iter_y = -static_cast<float>(points[i].y / 1000.0);
*iter_y = static_cast<float>(points[i].y / 1000.0);
*iter_z = static_cast<float>(points[i].z / 1000.0);
++iter_x, ++iter_y, ++iter_z;
valid_count++;
@@ -1703,7 +1744,6 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
RCLCPP_DEBUG(logger_,
"Depth registration is disabled or align filter is null or depth frame is "
"null or color frame is null");
return;
}
if (depth_registration_ && align_filter_ && depth_frame_ && !color_frame) {
return;
orbbec_camera/src/ob_camera_node_driver.cpp
+1 -1
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@@ -423,7 +423,7 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
if (enable_sync_host_time_ && !isOpenNIDevice(device_info_->pid())) {
TRY_EXECUTE_BLOCK(device_->timerSyncWithHost());
sync_host_time_timer_ = this->create_wall_timer(std::chrono::milliseconds(30000), [this]() {
sync_host_time_timer_ = this->create_wall_timer(std::chrono::seconds(60 * 60 * 2), [this]() {
if (device_) {
TRY_EXECUTE_BLOCK(device_->timerSyncWithHost());
}