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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/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;