add gemini2 XL launch file

orbbec_camera/include/orbbec_camera/gst_decoder.h

@@ -1,28 +0,0 @@
-#pragma once
-#include "mjpeg_decoder.h"
-#include <gst/gst.h>
-namespace orbbec_camera {
-
-class GstreamerMjpegDecoder : public MjpegDecoder {
- public:
-  GstreamerMjpegDecoder(int width, int height, std::string jpeg_decoder, std::string video_convert,
-                        std::string jpeg_parse);
-  ~GstreamerMjpegDecoder() override;
-
-  bool decode(const std::shared_ptr<ob::ColorFrame>& frame, uint8_t* dest) override;
-
- private:
-  std::string jpeg_decoder_;
-  std::string video_convert_;
-  std::string jpeg_parse_;
-  guint buffer_size_ = 0;
-  GstBufferPool* buffer_pool_ = nullptr;
-  GstElement* pipeline_ = nullptr;
-  GstElement* appsrc_ = nullptr;
-  GstElement* jpegparse_ = nullptr;
-  GstElement* jpegdec_ = nullptr;
-  GstElement* videoconvert_ = nullptr;
-  GstElement* appsink_ = nullptr;
-};
-
-}  // namespace orbbec_camera

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -57,11 +57,6 @@
 #include "orbbec_camera/d2c_viewer.h"
 #include "magic_enum/magic_enum.hpp"
 #include "mjpeg_decoder.h"
-#if defined(USE_RK_HW_DECODER)
-#include "orbbec_camera/rk_mpp_decoder.h"
-#elif defined(USE_GST_HW_DECODER)
-#include "orbbec_camera/gst_decoder.h"
-#endif
 
 #define STREAM_NAME(sip)                                                                       \
   (static_cast<std::ostringstream&&>(std::ostringstream()                                      \
@@ -102,16 +97,26 @@ typedef std::pair<ob_stream_type, int> stream_index_pair;
 const stream_index_pair COLOR{OB_STREAM_COLOR, 0};
 const stream_index_pair DEPTH{OB_STREAM_DEPTH, 0};
 const stream_index_pair INFRA0{OB_STREAM_IR, 0};
-const stream_index_pair INFRA1{OB_STREAM_IR, 1};
-const stream_index_pair INFRA2{OB_STREAM_IR, 2};
+const stream_index_pair INFRA1{OB_STREAM_IR_LEFT, 0};
+const stream_index_pair INFRA2{OB_STREAM_IR_RIGHT, 0};
 
 const stream_index_pair GYRO{OB_STREAM_GYRO, 0};
 const stream_index_pair ACCEL{OB_STREAM_ACCEL, 0};
 
-const std::vector<stream_index_pair> IMAGE_STREAMS = {DEPTH, INFRA0, COLOR};
+const std::vector<stream_index_pair> IMAGE_STREAMS = {DEPTH, INFRA0, COLOR, INFRA1, INFRA2};
 
 const std::vector<stream_index_pair> HID_STREAMS = {GYRO, ACCEL};
 
+const std::map<OBStreamType, OBFrameType> STREAM_TYPE_TO_FRAME_TYPE = {
+    {OB_STREAM_COLOR, OB_FRAME_COLOR},
+    {OB_STREAM_DEPTH, OB_FRAME_DEPTH},
+    {OB_STREAM_IR, OB_FRAME_IR},
+    {OB_STREAM_IR_LEFT, OB_FRAME_IR_LEFT},
+    {OB_STREAM_IR_RIGHT, OB_FRAME_IR_RIGHT},
+    {OB_STREAM_GYRO, OB_FRAME_GYRO},
+    {OB_STREAM_ACCEL, OB_FRAME_ACCEL},
+};
+
 class OBCameraNode {
  public:
   OBCameraNode(rclcpp::Node* node, std::shared_ptr<ob::Device> device,
@@ -359,8 +364,6 @@ class OBCameraNode {
   ob::PointCloudFilter point_cloud_filter_;
   sensor_msgs::msg::PointCloud2 point_cloud_msg_;
 
-  rclcpp::Publisher<Extrinsics>::SharedPtr extrinsics_publisher_;
-  bool enable_publish_extrinsic_ = false;
   orbbec_camera_msgs::msg::DeviceInfo device_info_;
   std::string point_cloud_qos_;
   std::vector<geometry_msgs::msg::TransformStamped> static_tf_msgs_;
@@ -388,12 +391,13 @@ class OBCameraNode {
   // Only for Gemini2 device
   bool enable_hardware_d2d_ = true;
   std::string depth_work_mode_;
-  OBSyncMode sync_mode_ = OBSyncMode::OB_SYNC_MODE_CLOSE;
+  OBMultiDeviceSyncMode sync_mode_ = OBMultiDeviceSyncMode::OB_MULTI_DEVICE_SYNC_MODE_FREE_RUN;
   std::string sync_mode_str_;
-  int ir_trigger_signal_in_delay_ = 0;
-  int rgb_trigger_signal_in_delay_ = 0;
-  int device_trigger_signal_out_delay_ = 0;
-  bool sync_signal_trigger_out_ = false;
+  int depth_delay_us_ = 0;
+  int color_delay_us_ = 0;
+  int trigger2image_delay_us_ = 0;
+  int trigger_signal_output_delay_us_ = 0;
+  bool trigger_signal_output_enabled_ = false;
   std::string depth_precision_str_;
   OB_DEPTH_PRECISION_LEVEL depth_precision_ = OB_PRECISION_0MM8;
   // IMU
@@ -409,8 +413,5 @@ class OBCameraNode {
   // mjpeg decoder
   std::shared_ptr<MjpegDecoder> mjpeg_decoder_ = nullptr;
   uint8_t* rgb_buffer_ = nullptr;
-  std::string jpeg_decoder_ = "avdec_mjpeg";  // avdec_mjpeg, mppjpegdec, nvjpegdec, jpegdec
-  std::string jpeg_parse_ = "jpegparse";
-  std::string video_convert_ = "videoconvert";  // videoconvert, nvvidconv
 };
 }  // namespace orbbec_camera

orbbec_camera/include/orbbec_camera/rk_mpp_decoder.h

@@ -1,7 +1,6 @@
 #pragma once
 
 #include "mjpeg_decoder.h"
-#include <rga/RgaApi.h>
 #include <rockchip/mpp_buffer.h>
 #include <rockchip/mpp_err.h>
 #include <rockchip/mpp_frame.h>
@@ -10,6 +9,11 @@
 #include <rockchip/mpp_rc_defs.h>
 #include <rockchip/mpp_task.h>
 #include <rockchip/rk_mpi.h>
+#if defined(USE_LIBYUV)
+#include <libyuv.h>
+#else
+#include <rga/RgaApi.h>
+#endif
 #define MPP_ALIGN(x, a) (((x) + (a)-1) & ~((a)-1))
 
 namespace orbbec_camera {
@@ -36,7 +40,7 @@ class RKMjpegDecoder : public MjpegDecoder {
   MppBufferGroup mpp_packet_group_ = nullptr;
   MppTask mpp_task_ = nullptr;
   uint32_t need_split_ = 0;
-  uint8_t * rgb_buffer_ = nullptr;
+  uint8_t* rgb_buffer_ = nullptr;
 };
 
 }  // namespace orbbec_camera

orbbec_camera/include/orbbec_camera/utils.h

@@ -53,7 +53,7 @@ bool isOpenNIDevice(int pid);
 OB_DEPTH_PRECISION_LEVEL depthPrecisionLevelFromString(
     const std::string& depth_precision_level_str);
 
-OBSyncMode OBSyncModeFromString(const std::string& mode);
+OBMultiDeviceSyncMode OBSyncModeFromString(const std::string& mode);
 
 OB_SAMPLE_RATE sampleRateFromString(std::string& sample_rate);