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updata libOrbbecSDK.so , ob_camera_node and CMakeLists.txt

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jj
2024-09-04 12:47:36 +08:00
parent 3cd3a7fdd3
commit 9f764c8e57
58 changed files with 6218 additions and 5345 deletions
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orbbec_camera/include/orbbec_camera/image_publisher.h
-52
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@@ -1,52 +0,0 @@
// Copyright 2023 Intel Corporation. All Rights Reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#pragma once
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/image.hpp>
#include <image_transport/image_transport.hpp>
namespace orbbec_camera {
class image_publisher {
public:
virtual void publish(sensor_msgs::msg::Image::UniquePtr image_ptr) = 0;
virtual size_t get_subscription_count() const = 0;
virtual ~image_publisher() = default;
}; // namespace image_publisher
// Native RCL implementation of an image publisher (needed for intra-process communication)
class image_rcl_publisher : public image_publisher {
public:
image_rcl_publisher(rclcpp::Node& node, const std::string& topic_name,
const rmw_qos_profile_t& qos);
void publish(sensor_msgs::msg::Image::UniquePtr image_ptr) override;
size_t get_subscription_count() const override;
private:
rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr image_publisher_impl;
};
// image_transport implementation of an image publisher (adds a compressed image topic)
class image_transport_publisher : public image_publisher {
public:
image_transport_publisher(rclcpp::Node& node, const std::string& topic_name,
const rmw_qos_profile_t& qos);
void publish(sensor_msgs::msg::Image::UniquePtr image_ptr) override;
size_t get_subscription_count() const override;
private:
std::shared_ptr<image_transport::Publisher> image_publisher_impl;
};
} // namespace orbbec_camera
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+5 -8
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@@ -60,7 +60,6 @@
#include "orbbec_camera/dynamic_params.h"
#include "orbbec_camera/d2c_viewer.h"
#include "magic_enum/magic_enum.hpp"
#include "orbbec_camera/image_publisher.h"
#include "jpeg_decoder.h"
#include <std_msgs/msg/string.hpp>
@@ -115,7 +114,7 @@ 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 = {COLOR,DEPTH, INFRA0, INFRA1, INFRA2};
const std::vector<stream_index_pair> IMAGE_STREAMS = {DEPTH, INFRA0, COLOR, INFRA1, INFRA2};
const std::vector<stream_index_pair> HID_STREAMS = {GYRO, ACCEL};
@@ -132,7 +131,7 @@ const std::map<OBStreamType, OBFrameType> STREAM_TYPE_TO_FRAME_TYPE = {
class OBCameraNode {
public:
OBCameraNode(rclcpp::Node* node, std::shared_ptr<ob::Device> device,
std::shared_ptr<Parameters> parameters, bool use_intra_process = false);
std::shared_ptr<Parameters> parameters);
template <class T>
void setAndGetNodeParameter(
@@ -316,7 +315,7 @@ class OBCameraNode {
void onNewColorFrameCallback();
void saveImageToFile(const stream_index_pair& stream_index, const cv::Mat& image,
const sensor_msgs::msg::Image& image_msg);
const sensor_msgs::msg::Image::SharedPtr& image_msg);
void onNewIMUFrameSyncOutputCallback(const std::shared_ptr<ob::Frame>& accelframe,
const std::shared_ptr<ob::Frame>& gryoframe);
@@ -392,7 +391,7 @@ class OBCameraNode {
std::map<stream_index_pair, bool> enable_stream_;
std::map<stream_index_pair, bool> flip_stream_;
std::map<stream_index_pair, std::string> stream_name_;
std::map<stream_index_pair, std::shared_ptr<image_publisher>> image_publishers_;
std::map<stream_index_pair, image_transport::Publisher> image_publishers_;
std::map<stream_index_pair, rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr>
camera_info_publishers_;
@@ -565,8 +564,6 @@ class OBCameraNode {
std::chrono::milliseconds software_trigger_period_{33};
bool enable_heartbeat_ = false;
bool enable_color_undistortion_ = false;
std::shared_ptr<image_publisher> color_undistortion_publisher_;
bool has_first_color_frame_ = false;
bool use_intra_process_ = false;
image_transport::Publisher color_undistortion_publisher_;
};
} // namespace orbbec_camera
orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h
-4
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@@ -26,8 +26,6 @@
#include "libobsensor/ObSensor.hpp"
#include <pthread.h>
#include <std_srvs/srv/empty.hpp>
#include <backward_ros/backward.hpp>
namespace orbbec_camera {
@@ -71,7 +69,6 @@ class OBCameraNodeDriver : public rclcpp::Node {
std::shared_ptr<std_srvs::srv::Empty::Response> response);
private:
const rclcpp::NodeOptions node_options_;
std::string config_path_;
std::unique_ptr<ob::Context> ctx_ = nullptr;
rclcpp::Logger logger_;
@@ -106,6 +103,5 @@ class OBCameraNodeDriver : public rclcpp::Node {
bool enable_sync_host_time_ = true;
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr reboot_device_srv_ = nullptr;
std::chrono::time_point<std::chrono::system_clock> start_time_;
static backward::SignalHandling sh; // for stack trace
};
} // namespace orbbec_camera
orbbec_camera/include/orbbec_camera/utils.h
-27
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@@ -35,33 +35,6 @@ inline void LogFatal(const char* file, int line, const std::string& message) {
}
} // namespace orbbec_camera
#define TRY_EXECUTE_BLOCK(block) \
try { \
block; \
} catch (const ob::Error& e) { \
RCLCPP_ERROR(logger_, "Error in %s at line %d: %s", __FUNCTION__, __LINE__, e.getMessage()); \
} catch (const std::exception& e) { \
RCLCPP_ERROR(logger_, "Exception in %s at line %d: %s", __FUNCTION__, __LINE__, e.what()); \
} catch (...) { \
RCLCPP_ERROR(logger_, "Unknown exception in %s at line %d", __FUNCTION__, __LINE__); \
}
#define TRY_TO_SET_PROPERTY(func, property, value) \
try { \
device_->func(property, value); \
} catch (const ob::Error& e) { \
RCLCPP_ERROR_STREAM(logger_, "Failed to set " << property << " to " << value << " in " \
<< __FUNCTION__ << " at line " << __LINE__ \
<< ": " << e.getMessage()); \
} catch (const std::exception& e) { \
RCLCPP_ERROR_STREAM(logger_, "Failed to set " << property << " to " << value << " in " \
<< __FUNCTION__ << " at line " << __LINE__ \
<< ": " << e.what()); \
} catch (...) { \
RCLCPP_ERROR_STREAM(logger_, "Failed to set " << property << " to " << value << " in " \
<< __FUNCTION__ << " at line " << __LINE__); \
}
// Macros for checking conditions and comparing values
#define CHECK(condition) \
(!(condition) ? LogFatal(__FILE__, __LINE__, "Check failed: " #condition) : (void)0)