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[launch]Add uvc_backend params

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jj
2024-12-18 16:10:09 +08:00
parent c9ed511f83
commit 812abe52bc
4 changed files with 13 additions and 1 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h
+1
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@@ -83,6 +83,7 @@ class OBCameraNodeDriver : public rclcpp::Node {
std::string device_unique_id_; std::string device_unique_id_;
std::string usb_port_; std::string usb_port_;
bool enumerate_net_device_ = false; // default false bool enumerate_net_device_ = false; // default false
std::string uvc_backend_;
std::shared_ptr<Parameters> parameters_ = nullptr; std::shared_ptr<Parameters> parameters_ = nullptr;
std::shared_ptr<std::thread> query_thread_ = nullptr; std::shared_ptr<std::thread> query_thread_ = nullptr;
std::shared_ptr<std::thread> device_count_update_thread_ = nullptr; std::shared_ptr<std::thread> device_count_update_thread_ = nullptr;
orbbec_camera/launch/gemini_330_series.launch.py
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@@ -56,6 +56,7 @@ def generate_launch_description():
DeclareLaunchArgument('serial_number', default_value=''), DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''), DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'), DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
DeclareLaunchArgument('point_cloud_qos', default_value='default'), DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('enable_point_cloud', default_value='true'), DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'), DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
orbbec_camera/src/ob_camera_node.cpp
-1
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@@ -1160,7 +1160,6 @@ void OBCameraNode::getParameters() {
depth_aligned_frame_id_[stream_index] = depth_aligned_frame_id_[stream_index] =
camera_name_ + "_" + stream_name_[COLOR] + "_optical_frame"; camera_name_ + "_" + stream_name_[COLOR] + "_optical_frame";
} }
setAndGetNodeParameter(publish_tf_, "publish_tf", true); setAndGetNodeParameter(publish_tf_, "publish_tf", true);
setAndGetNodeParameter(tf_publish_rate_, "tf_publish_rate", 0.0); setAndGetNodeParameter(tf_publish_rate_, "tf_publish_rate", 0.0);
setAndGetNodeParameter(depth_registration_, "depth_registration", false); setAndGetNodeParameter(depth_registration_, "depth_registration", false);
orbbec_camera/src/ob_camera_node_driver.cpp
+11
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@@ -162,6 +162,17 @@ void OBCameraNodeDriver::init() {
net_device_ip_ = declare_parameter<std::string>("net_device_ip", ""); net_device_ip_ = declare_parameter<std::string>("net_device_ip", "");
net_device_port_ = static_cast<int>(declare_parameter<int>("net_device_port", 0)); net_device_port_ = static_cast<int>(declare_parameter<int>("net_device_port", 0));
enumerate_net_device_ = declare_parameter<bool>("enumerate_net_device", false); enumerate_net_device_ = declare_parameter<bool>("enumerate_net_device", false);
uvc_backend_ = declare_parameter<std::string>("uvc_backend", "libuvc");
if(uvc_backend_=="libuvc"){
ctx_->setUvcBackendType(OB_UVC_BACKEND_TYPE_LIBUVC);
RCLCPP_INFO_STREAM(logger_, "setUvcBackendType:"<<uvc_backend_);
}else if(uvc_backend_=="v4l2"){
ctx_->setUvcBackendType(OB_UVC_BACKEND_TYPE_V4L2);
RCLCPP_INFO_STREAM(logger_, "setUvcBackendType:"<<uvc_backend_);
}else{
ctx_->setUvcBackendType(OB_UVC_BACKEND_TYPE_LIBUVC);
RCLCPP_INFO_STREAM(logger_, "setUvcBackendType:"<<uvc_backend_);
}
ctx_->enableNetDeviceEnumeration(enumerate_net_device_); ctx_->enableNetDeviceEnumeration(enumerate_net_device_);
ctx_->setDeviceChangedCallback([this](const std::shared_ptr<ob::DeviceList> &removed_list, ctx_->setDeviceChangedCallback([this](const std::shared_ptr<ob::DeviceList> &removed_list,
const std::shared_ptr<ob::DeviceList> &added_list) { const std::shared_ptr<ob::DeviceList> &added_list) {