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chore: rename gemini2R to gemini_generic

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This commit is contained in:
Joe Dong
2024-05-08 22:28:27 +08:00
parent 9fa54a8283
commit 78b2cba92c
11 changed files with 93 additions and 51 deletions
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orbbec_camera/include/orbbec_camera/constants.h
+24 -14
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@@ -1,18 +1,18 @@
/*******************************************************************************
* Copyright (c) 2023 Orbbec 3D Technology, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
* Copyright (c) 2023 Orbbec 3D Technology, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
#pragma once
@@ -117,5 +117,15 @@ const int GEMINI2RL_PID = 0x06d1;
const int GEMINI2R_PID2 = 0x0800;
const int GEMINI2RL_PID2 = 0x0804;
const std::string ORB_DEFAULT_LOCK_NAME = "orbbec_device_lock";
const int32_t GEMINI_335_PID = 0x0800; // Gemini 335 / 335e
const int32_t GEMINI_330_PID = 0x0801; // Gemini 330
const int32_t GEMINI_336_PID = 0x0803; // Gemini 336 / 336e
const int32_t GEMINI_335L_PID = 0x0804; // Gemini 335L
const int32_t GEMINI_330L_PID = 0x0805; // Gemini 336L
const int32_t GEMINI_336L_PID = 0x0807; // Gemini 335Lg
const int32_t GEMINI_335LG_PID = 0x080B; // Gemini 336Lg
const int32_t GEMINI_336LG_PID = 0x080D;
const int32_t GEMINI_335LE_PID = 0x080E; // Gemini 335Le
const int32_t GEMINI_336LE_PID = 0x0810; // Gemini 335Le
} // namespace orbbec_camera
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+2
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@@ -325,6 +325,8 @@ class OBCameraNode {
static bool isGemini335PID(uint32_t pid);
std::string selectPreset(uint32_t pid);
private:
rclcpp::Node* node_ = nullptr;
std::shared_ptr<ob::Device> device_ = nullptr;
orbbec_camera/launch/gemini2R.launch.py → orbbec_camera/launch/gemini_generic.launch.py
+1
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@@ -106,6 +106,7 @@ def generate_launch_description():
DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
DeclareLaunchArgument('enable_laser', default_value='true'),
DeclareLaunchArgument('depth_precision', default_value='1mm'),
DeclareLaunchArgument('device_preset', default_value=''),
# Laser on/off alternate mode, 0: off, 1: on-off alternate, 2: off-on alternate.
DeclareLaunchArgument('laser_on_off_mode', default_value='0'),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
orbbec_camera/launch/multi_camera.launch.py
+2 -2
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@@ -12,7 +12,7 @@ def generate_launch_description():
launch_file_dir = os.path.join(package_dir, 'launch')
launch1_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, 'gemini2R.launch.py')
os.path.join(launch_file_dir, 'gemini_generic.launch.py')
),
launch_arguments={
'camera_name': 'camera_01',
@@ -24,7 +24,7 @@ def generate_launch_description():
launch2_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, 'gemini2R.launch.py')
os.path.join(launch_file_dir, 'gemini_generic.launch.py')
),
launch_arguments={
'camera_name': 'camera_02',
orbbec_camera/src/ob_camera_node.cpp
+17 -10
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@@ -153,6 +153,7 @@ void OBCameraNode::setupDevices() {
device_->setIntProperty(OB_PROP_LASER_ON_OFF_MODE_INT, laser_on_off_mode_);
}
if (!device_preset_.empty()) {
RCLCPP_INFO_STREAM(logger_, "Load device preset: " << device_preset_);
device_->loadPreset(device_preset_.c_str());
}
auto depth_sensor = device_->getSensor(OB_SENSOR_DEPTH);
@@ -788,6 +789,12 @@ void OBCameraNode::getParameters() {
align_target_stream_ = obStreamTypeFromString(align_target_stream_str_);
setAndGetNodeParameter<bool>(retry_on_usb3_detection_failure_, "retry_on_usb3_detection_failure",
false);
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info.get());
auto pid = device_info->pid();
if (isGemini335PID(pid)) {
device_preset_ = selectPreset(pid);
}
}
void OBCameraNode::setupTopics() {
@@ -2040,22 +2047,22 @@ bool OBCameraNode::setupFormatConvertType(OBFormat format) {
}
bool OBCameraNode::isGemini335PID(uint32_t pid) {
const uint16_t GEMINI_335_PID = 0x0800; // Gemini 335 / 335e
const uint16_t GEMINI_330_PID = 0x0801; // Gemini 330
const uint16_t GEMINI_336_PID = 0x0803; // Gemini 336 / 336e
const uint16_t GEMINI_335L_PID = 0x0804; // Gemini 335L
const uint16_t GEMINI_330L_PID = 0x0805; // Gemini 336L
const uint16_t GEMINI_336L_PID = 0x0807; // Gemini 335Lg
const uint16_t GEMINI_335LG_PID = 0x080B; // Gemini 336Lg
const uint16_t GEMINI_336LG_PID = 0x080D;
const uint16_t GEMINI_335LE_PID = 0x080E; // Gemini 335Le
const uint16_t GEMINI_336LE_PID = 0x0810; // Gemini 335Le
return pid == GEMINI_335_PID || pid == GEMINI_330_PID || pid == GEMINI_336_PID ||
pid == GEMINI_335L_PID || pid == GEMINI_330L_PID || pid == GEMINI_336L_PID ||
pid == GEMINI_335LG_PID || pid == GEMINI_336LG_PID || pid == GEMINI_335LE_PID ||
pid == GEMINI_336LE_PID;
}
std::string OBCameraNode::selectPreset(uint32_t pid) {
switch (pid) {
case GEMINI_336_PID:
case GEMINI_336L_PID:
return "AMR with IR-Pass";
default:
return "Default";
}
}
orbbec_camera_msgs::msg::IMUInfo OBCameraNode::createIMUInfo(
const stream_index_pair &stream_index) {
orbbec_camera_msgs::msg::IMUInfo imu_info;