i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-09-15 04:20:20 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update launch file and device rules

Browse Source
This commit is contained in:
Joe Dong
2024-04-13 16:45:02 +08:00
parent 86f8909212
commit 795e432531
3 changed files with 10 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/launch/gemini2R.launch.py
-6
View File
@@ -17,8 +17,6 @@ def generate_launch_description():
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'),
@@ -28,7 +26,6 @@ def generate_launch_description():
DeclareLaunchArgument('color_fps', default_value='30'),
DeclareLaunchArgument('color_format', default_value='MJPG'),
DeclareLaunchArgument('enable_color', default_value='true'),
DeclareLaunchArgument('flip_color', default_value='false'),
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
@@ -37,7 +34,6 @@ def generate_launch_description():
DeclareLaunchArgument('depth_fps', default_value='30'),
DeclareLaunchArgument('depth_format', default_value='Y16'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('flip_depth', default_value='false'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('left_ir_width', default_value='848'),
@@ -45,7 +41,6 @@ def generate_launch_description():
DeclareLaunchArgument('left_ir_fps', default_value='30'),
DeclareLaunchArgument('left_ir_format', default_value='Y8'),
DeclareLaunchArgument('enable_left_ir', default_value='true'),
DeclareLaunchArgument('flip_left_ir', default_value='false'),
DeclareLaunchArgument('left_ir_qos', default_value='default'),
DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('right_ir_width', default_value='848'),
@@ -53,7 +48,6 @@ def generate_launch_description():
DeclareLaunchArgument('right_ir_fps', default_value='30'),
DeclareLaunchArgument('right_ir_format', default_value='Y8'),
DeclareLaunchArgument('enable_right_ir', default_value='true'),
DeclareLaunchArgument('flip_right_ir', default_value='false'),
DeclareLaunchArgument('right_ir_qos', default_value='default'),
DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
orbbec_camera/scripts/99-obsensor-libusb.rules
-12
View File
@@ -99,15 +99,3 @@ SUBSYSTEM=="usb", ATTR{idProduct}=="06d0", ATTR{idVendor}=="2bc5", MODE:="0666",
SUBSYSTEM=="usb", ATTR{idProduct}=="06d1", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="geminiRL"
SUBSYSTEM=="usb", ATTR{idProduct}=="0800", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="geminiR"
SUBSYSTEM=="usb", ATTR{idProduct}=="0804", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="geminiRL"
orbbec_camera/src/ob_camera_node.cpp
+10 -19
View File
@@ -133,16 +133,14 @@ void OBCameraNode::setupDevices() {
}
}
auto info = device_->getDeviceInfo();
if (enable_hardware_d2d_ && info->pid() == GEMINI2_PID) {
device_->setBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL, true);
bool isHWD2D = device_->getBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL);
if (isHWD2D == false) {
RCLCPP_INFO_STREAM(logger_, "Depth process is soft D2D.");
} else {
RCLCPP_INFO_STREAM(logger_, "Depth process is HW D2D.");
}
}
try {
if (enable_hardware_d2d_ &&
device_->isPropertySupported(OB_PROP_DISPARITY_TO_DEPTH_BOOL, OB_PERMISSION_READ_WRITE)) {
device_->setBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL, true);
bool is_hardware_d2d = device_->getBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL);
std::string d2d_mode = is_hardware_d2d ? "HW D2D" : "SW D2D";
RCLCPP_INFO_STREAM(logger_, "Depth process is " << d2d_mode);
}
device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, enable_laser_);
device_->loadPreset(device_preset_.c_str());
auto depth_sensor = device_->getSensor(OB_SENSOR_DEPTH);
@@ -750,16 +748,9 @@ void OBCameraNode::setupPipelineConfig() {
pipeline_config_ = std::make_shared<ob::Config>();
pipeline_config_->setDepthScaleRequire(enable_depth_scale_);
if (depth_registration_ && enable_stream_[COLOR] && enable_stream_[DEPTH]) {
auto info = device_->getDeviceInfo();
auto pid = info->pid();
if (pid == FEMTO_BOLT_PID || pid == GEMINI2R_PID || pid == GEMINI2RL_PID) {
RCLCPP_INFO_STREAM(logger_, "set align mode ALIGN_D2C_SW_MODE.");
pipeline_config_->setAlignMode(ALIGN_D2C_SW_MODE);
} else {
RCLCPP_INFO_STREAM(logger_, "set align mode ALIGN_D2C_HW_MODE.");
OBAlignMode align_mode = align_mode_ == "HW" ? ALIGN_D2C_HW_MODE : ALIGN_D2C_SW_MODE;
pipeline_config_->setAlignMode(align_mode);
}
RCLCPP_INFO_STREAM(logger_, "===set align mode to =====" << align_mode_);
OBAlignMode align_mode = align_mode_ == "HW" ? ALIGN_D2C_HW_MODE : ALIGN_D2C_SW_MODE;
pipeline_config_->setAlignMode(align_mode);
}
for (const auto &stream_index : IMAGE_STREAMS) {
if (enable_stream_[stream_index]) {