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lixiaobin
2023-10-11 10:04:04 +08:00
parent 79eaa7675d 5ae185f1cc
commit 95c85ddbbe
8 changed files with 9 additions and 1 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1
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@@ -393,6 +393,7 @@ class OBCameraNode {
bool enable_ldp_ = true;
int soft_filter_max_diff_ = -1;
int soft_filter_speckle_size_ = -1;
bool enable_frame_sync_ = false;
// Only for Gemini2 device
bool enable_hardware_d2d_ = true;
std::string depth_work_mode_;
orbbec_camera/launch/femto.launch.py
+1
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@@ -67,6 +67,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
DeclareLaunchArgument('enable_frame_sync', default_value='false'),
]
# Node configuration
orbbec_camera/launch/femto_mega.launch.py
+1
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@@ -73,6 +73,7 @@ def generate_launch_description():
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_out_enabled', default_value='false'),
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
]
# Node configuration
orbbec_camera/launch/gemini2.launch.py
+1
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@@ -78,6 +78,7 @@ def generate_launch_description():
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_out_enabled', default_value='false'),
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
]
# Node configuration
orbbec_camera/launch/gemini2L.launch.py
+1
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@@ -78,6 +78,7 @@ def generate_launch_description():
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_out_enabled', default_value='false'),
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
]
# Node configuration
orbbec_camera/launch/gemini2VL.launch.py
+1
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@@ -71,6 +71,7 @@ def generate_launch_description():
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_out_enabled', default_value='false'),
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
]
# Node configuration
orbbec_camera/launch/gemini2XL.launch.py
+1
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@@ -87,6 +87,7 @@ def generate_launch_description():
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_out_enabled', default_value='false'),
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
]
# Node configuration
orbbec_camera/src/ob_camera_node.cpp
+2 -1
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@@ -253,7 +253,7 @@ void OBCameraNode::startStreams() {
onNewFrameSetCallback(frame_set);
});
}
if (pipeline_ && (depth_registration_ || enable_colored_point_cloud_)) {
if (enable_frame_sync_) {
pipeline_->enableFrameSync();
}
pipeline_started_.store(true);
@@ -428,6 +428,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter(enable_d2c_viewer_, "enable_d2c_viewer", false);
setAndGetNodeParameter(enable_hardware_d2d_, "enable_hardware_d2d", true);
setAndGetNodeParameter(enable_soft_filter_, "enable_soft_filter", true);
setAndGetNodeParameter(enable_frame_sync_, "enable_frame_sync", false);
setAndGetNodeParameter(enable_color_auto_exposure_, "enable_color_auto_exposure", true);
setAndGetNodeParameter(enable_ir_auto_exposure_, "enable_ir_auto_exposure", true);
setAndGetNodeParameter<std::string>(depth_work_mode_, "depth_work_mode", "");