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support G335Lg multi camera sync

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This commit is contained in:
daiyin
2024-10-16 22:25:35 +08:00
parent 0909843296
commit 8af4e65f44
9 changed files with 273 additions and 49 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+7
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@@ -104,6 +104,7 @@ OBCameraNodeDriver::~OBCameraNodeDriver() {
reset_device_cond_.notify_all();
reset_device_thread_->join();
}
ob_camera_node_->stopGmslTrigger();
}
void OBCameraNodeDriver::init() {
@@ -415,6 +416,7 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
ob_camera_node_->startIMU();
ob_camera_node_->startStreams();
device_connected_ = true;
device_info_ = device_->getDeviceInfo();
serial_number_ = device_info_->getSerialNumber();
@@ -490,6 +492,11 @@ void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list
end_time = std::chrono::high_resolution_clock::now();
time_cost = std::chrono::duration_cast<std::chrono::milliseconds>(end_time - start_time);
RCLCPP_INFO_STREAM(logger_, "Initialize device cost " << time_cost.count() << " ms");
auto pid = device->getDeviceInfo()->getPid();
if (GEMINI_335LG_PID == pid) {
ob_camera_node_->startGmslTrigger();
}
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to initialize device " << e.getMessage());
start_device_failed = true;