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Merge remote-tracking branch 'origin/feature/gemini_dual_ir' into merge/sdk_2.8.4

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ob-yalian
2026-04-20 14:53:46 +08:00
parent 5123e34069 28495a8f31
commit 7818e9cea1
2 changed files with 152 additions and 73 deletions
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orbbec_camera/config/gemini2L_dual_ir.yaml
+22
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@@ -0,0 +1,22 @@
# Gemini 2L dual IR mode overrides.
# Usage:
# ros2 launch orbbec_camera gemini2L.launch.py config_file_path:=gemini2L_dual_ir.yaml
depth_work_mode: In-scene Calibration
enable_ir: false
enable_left_ir: true
left_ir_width: 1280
left_ir_height: 800
left_ir_fps: 30
left_ir_format: Y8
left_ir_qos: default
left_ir_camera_info_qos: default
enable_right_ir: true
right_ir_width: 1280
right_ir_height: 800
right_ir_fps: 30
right_ir_format: Y8
right_ir_qos: default
right_ir_camera_info_qos: default
orbbec_camera/launch/gemini2L.launch.py
+130 -73
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@@ -1,16 +1,78 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import PushRosNamespace
from launch.actions import GroupAction
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
from launch_ros.actions import Node
import os import os
import yaml
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, GroupAction, OpaqueFunction
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer, Node, PushRosNamespace
from launch_ros.descriptions import ComposableNode
def load_yaml(file_path):
try:
with open(file_path, "r") as f:
return yaml.safe_load(f)
except Exception as e:
print(f"[orbbec_camera] Failed to load yaml '{file_path}': {e}")
return {}
def merge_params(default_params, yaml_params):
if not isinstance(yaml_params, dict):
print("[orbbec_camera] YAML parameters should be a dictionary.")
return default_params
for key, value in yaml_params.items():
default_params[key] = value
return default_params
def resolve_config_file_path(config_file_path: str) -> str:
if not config_file_path:
return config_file_path
if os.path.isabs(config_file_path) and os.path.exists(config_file_path):
return config_file_path
if os.path.exists(config_file_path):
return config_file_path
config_dir = os.path.normpath(os.path.join(os.path.dirname(__file__), "..", "config"))
candidate = os.path.join(config_dir, config_file_path)
if os.path.exists(candidate):
return candidate
return config_file_path
def convert_value(value):
if isinstance(value, str):
try:
return int(value)
except ValueError:
pass
try:
return float(value)
except ValueError:
pass
if value.lower() == "true":
return True
if value.lower() == "false":
return False
return value
def load_parameters(context, args):
default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
config_file_path = resolve_config_file_path(
LaunchConfiguration("config_file_path").perform(context)
)
if config_file_path:
yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params)
skip_convert = {"config_file_path", "usb_port", "serial_number"}
return {
key: (value if key in skip_convert else convert_value(value))
for key, value in default_params.items()
}
def generate_launch_description(): def generate_launch_description():
# Declare arguments
args = [ args = [
DeclareLaunchArgument("camera_name", default_value="camera"), DeclareLaunchArgument("camera_name", default_value="camera"),
DeclareLaunchArgument("depth_registration", default_value="false"), DeclareLaunchArgument("depth_registration", default_value="false"),
@@ -81,32 +143,32 @@ def generate_launch_description():
DeclareLaunchArgument("log_file_name", default_value=""), DeclareLaunchArgument("log_file_name", default_value=""),
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"), DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"), DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
DeclareLaunchArgument('disparity_to_depth_mode', default_value='SW'), DeclareLaunchArgument("disparity_to_depth_mode", default_value="SW"),
DeclareLaunchArgument("enable_ldp", default_value="true"), DeclareLaunchArgument("enable_ldp", default_value="true"),
DeclareLaunchArgument('enable_decimation_filter', default_value='false'), DeclareLaunchArgument("enable_decimation_filter", default_value="false"),
DeclareLaunchArgument('enable_threshold_filter', default_value='false'), DeclareLaunchArgument("enable_threshold_filter", default_value="false"),
DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'), DeclareLaunchArgument("enable_noise_removal_filter", default_value="true"),
DeclareLaunchArgument('enable_spatial_filter', default_value='false'), DeclareLaunchArgument("enable_spatial_filter", default_value="false"),
DeclareLaunchArgument('enable_temporal_filter', default_value='false'), DeclareLaunchArgument("enable_temporal_filter", default_value="false"),
DeclareLaunchArgument('enable_disparity_to_depth', default_value='true'), DeclareLaunchArgument("enable_disparity_to_depth", default_value="true"),
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'), DeclareLaunchArgument("enable_hole_filling_filter", default_value="false"),
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'), DeclareLaunchArgument("decimation_filter_scale", default_value="-1"),
DeclareLaunchArgument('threshold_filter_max', default_value='-1'), DeclareLaunchArgument("threshold_filter_max", default_value="-1"),
DeclareLaunchArgument('threshold_filter_min', default_value='-1'), DeclareLaunchArgument("threshold_filter_min", default_value="-1"),
DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'), DeclareLaunchArgument("noise_removal_filter_min_diff", default_value="256"),
DeclareLaunchArgument('noise_removal_filter_max_size', default_value='200'), DeclareLaunchArgument("noise_removal_filter_max_size", default_value="200"),
DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'), DeclareLaunchArgument("spatial_filter_alpha", default_value="-1.0"),
DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'), DeclareLaunchArgument("spatial_filter_diff_threshold", default_value="-1"),
DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'), DeclareLaunchArgument("spatial_filter_magnitude", default_value="-1"),
DeclareLaunchArgument('spatial_filter_radius', default_value='-1'), DeclareLaunchArgument("spatial_filter_radius", default_value="-1"),
DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'), DeclareLaunchArgument("temporal_filter_diff_threshold", default_value="-1.0"),
DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'), DeclareLaunchArgument("temporal_filter_weight", default_value="-1.0"),
DeclareLaunchArgument('hole_filling_filter_mode', default_value=''), DeclareLaunchArgument("hole_filling_filter_mode", default_value=""),
# Depth work mode support is as follows: # Depth work mode support is as follows:
# Unbinned Dense Default # Unbinned Dense Default
# Unbinned Sparse Default # Unbinned Sparse Default
# Binned Sparse Default # Binned Sparse Default
DeclareLaunchArgument("depth_work_mode", default_value=""), DeclareLaunchArgument("depth_work_mode", default_value="Unbinned Dense Default"),
DeclareLaunchArgument("sync_mode", default_value="standalone"), DeclareLaunchArgument("sync_mode", default_value="standalone"),
DeclareLaunchArgument("depth_delay_us", default_value="0"), DeclareLaunchArgument("depth_delay_us", default_value="0"),
DeclareLaunchArgument("color_delay_us", default_value="0"), DeclareLaunchArgument("color_delay_us", default_value="0"),
@@ -122,56 +184,51 @@ def generate_launch_description():
DeclareLaunchArgument("enable_heartbeat", default_value="false"), DeclareLaunchArgument("enable_heartbeat", default_value="false"),
DeclareLaunchArgument("enable_firmware_log", default_value="false"), DeclareLaunchArgument("enable_firmware_log", default_value="false"),
DeclareLaunchArgument("time_domain", default_value="global"), DeclareLaunchArgument("time_domain", default_value="global"),
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'), DeclareLaunchArgument("enable_frame_timestamp_csv", default_value="false"),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''), DeclareLaunchArgument("frame_timestamp_csv_file", default_value=""),
DeclareLaunchArgument("config_file_path", default_value=""),
] ]
# Node configuration def get_params(context, args):
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args] return [load_parameters(context, args)]
# get ROS_DISTRO
ros_distro = os.environ["ROS_DISTRO"] def create_node_action(context, args):
if ros_distro == "foxy": params = get_params(context, args)
return LaunchDescription( ros_distro = os.environ.get("ROS_DISTRO", "humble")
args if ros_distro == "foxy":
+ [ return [
Node( Node(
package="orbbec_camera", package="orbbec_camera",
executable="orbbec_camera_node", executable="orbbec_camera_node",
name="ob_camera_node", name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"), namespace=LaunchConfiguration("camera_name"),
parameters=parameters, parameters=params,
output="log", output="log",
) )
] ]
) return [
# Define the ComposableNode GroupAction(
else: [
# Define the ComposableNode PushRosNamespace(LaunchConfiguration("camera_name")),
compose_node = ComposableNode( ComposableNodeContainer(
package="orbbec_camera", name="camera_container",
plugin="orbbec_camera::OBCameraNodeDriver", namespace="",
name=LaunchConfiguration("camera_name"), package="rclcpp_components",
namespace="", executable="component_container",
parameters=parameters, composable_node_descriptions=[
) ComposableNode(
# Define the ComposableNodeContainer package="orbbec_camera",
container = ComposableNodeContainer( plugin="orbbec_camera::OBCameraNodeDriver",
name="camera_container", name=LaunchConfiguration("camera_name"),
namespace="", parameters=params,
package="rclcpp_components", ),
executable="component_container", ],
composable_node_descriptions=[ output="log",
compose_node, ),
], ]
output="log", )
) ]
# Launch description
ld = LaunchDescription( return LaunchDescription(
args args + [OpaqueFunction(function=lambda context: create_node_action(context, args))]
+ [ )
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
)
]
)
return ld