Add imu parameter README

orbbec_camera/include/orbbec_camera/utils.h

@@ -57,10 +57,16 @@ OBSyncMode OBSyncModeFromString(const std::string& mode);
 
 OB_SAMPLE_RATE sampleRateFromString(std::string& sample_rate);
 
+std::string sampleRateToString(const OB_SAMPLE_RATE &sample_rate);
+
 OB_GYRO_FULL_SCALE_RANGE fullGyroScaleRangeFromString(std::string& full_scale_range);
 
+std::string fullGyroScaleRangeToString(const OB_GYRO_FULL_SCALE_RANGE &full_scale_range);
+
 OBAccelFullScaleRange fullAccelScaleRangeFromString(std::string& full_scale_range);
 
+std::string fullAccelScaleRangeToString(const OBAccelFullScaleRange &full_scale_range);
+
 std::string parseUsbPort(const std::string& line);
 
 }  // namespace orbbec_camera

orbbec_camera/src/list_camera_profile.cpp

@@ -3,8 +3,9 @@
 #include <orbbec_camera/ob_camera_node_driver.h>
 #include <memory>
 #include <magic_enum/magic_enum.hpp>
-
+#include <orbbec_camera/utils.h>
 int main() {
+  using namespace orbbec_camera;
   auto context = std::make_unique<ob::Context>();
   context->setLoggerSeverity(OBLogSeverity::OB_LOG_SEVERITY_NONE);
   auto device_list = context->queryDeviceList();
@@ -37,16 +38,14 @@ int main() {
         auto profile = origin_profile->as<ob::AccelStreamProfile>();
         RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
                            "accel profile: sampleRate "
-                               << magic_enum::enum_name(profile->sampleRate())
-                               << "  full scale_range "
-                               << magic_enum::enum_name(profile->fullScaleRange()));
+                               << sampleRateToString(profile->sampleRate()) << "  full scale_range "
+                               << fullAccelScaleRangeToString(profile->fullScaleRange()));
       } else if (sensor->type() == OB_SENSOR_GYRO) {
         auto profile = origin_profile->as<ob::GyroStreamProfile>();
         RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
                            "gyro profile: sampleRate "
-                               << magic_enum::enum_name(profile->sampleRate())
-                               << "  full scale_range "
-                               << magic_enum::enum_name(profile->fullScaleRange()));
+                               << sampleRateToString(profile->sampleRate()) << "  full scale_range "
+                               << fullGyroScaleRangeToString(profile->fullScaleRange()));
       } else {
         RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
                            "unknown profile: " << magic_enum::enum_name(sensor->type()));

orbbec_camera/src/utils.cpp

@@ -342,6 +342,43 @@ OB_SAMPLE_RATE sampleRateFromString(std::string &sample_rate) {
   }
 }
 
+std::string sampleRateToString(const OB_SAMPLE_RATE &sample_rate) {
+  switch (sample_rate) {
+    case OB_SAMPLE_RATE_1_5625_HZ:
+      return "1.5625hz";
+    case OB_SAMPLE_RATE_3_125_HZ:
+      return "3.125hz";
+    case OB_SAMPLE_RATE_6_25_HZ:
+      return "6.25hz";
+    case OB_SAMPLE_RATE_12_5_HZ:
+      return "12.5hz";
+    case OB_SAMPLE_RATE_25_HZ:
+      return "25hz";
+    case OB_SAMPLE_RATE_50_HZ:
+      return "50hz";
+    case OB_SAMPLE_RATE_100_HZ:
+      return "100hz";
+    case OB_SAMPLE_RATE_200_HZ:
+      return "200hz";
+    case OB_SAMPLE_RATE_500_HZ:
+      return "500hz";
+    case OB_SAMPLE_RATE_1_KHZ:
+      return "1khz";
+    case OB_SAMPLE_RATE_2_KHZ:
+      return "2khz";
+    case OB_SAMPLE_RATE_4_KHZ:
+      return "4khz";
+    case OB_SAMPLE_RATE_8_KHZ:
+      return "8khz";
+    case OB_SAMPLE_RATE_16_KHZ:
+      return "16khz";
+    case OB_SAMPLE_RATE_32_KHZ:
+      return "32khz";
+    default:
+      return "100hz";
+  }
+}
+
 OB_GYRO_FULL_SCALE_RANGE fullGyroScaleRangeFromString(std::string &full_scale_range) {
   std::transform(full_scale_range.begin(), full_scale_range.end(), full_scale_range.begin(),
                  ::tolower);
@@ -368,6 +405,29 @@ OB_GYRO_FULL_SCALE_RANGE fullGyroScaleRangeFromString(std::string &full_scale_ra
   }
 }
 
+std::string fullGyroScaleRangeToString(const OB_GYRO_FULL_SCALE_RANGE &full_scale_range) {
+  switch (full_scale_range) {
+    case OB_GYRO_FS_16dps:
+      return "16dps";
+    case OB_GYRO_FS_31dps:
+      return "31dps";
+    case OB_GYRO_FS_62dps:
+      return "62dps";
+    case OB_GYRO_FS_125dps:
+      return "125dps";
+    case OB_GYRO_FS_250dps:
+      return "250dps";
+    case OB_GYRO_FS_500dps:
+      return "500dps";
+    case OB_GYRO_FS_1000dps:
+      return "1000dps";
+    case OB_GYRO_FS_2000dps:
+      return "2000dps";
+    default:
+      return "16dps";
+  }
+}
+
 OBAccelFullScaleRange fullAccelScaleRangeFromString(std::string &full_scale_range) {
   std::transform(full_scale_range.begin(), full_scale_range.end(), full_scale_range.begin(),
                  ::tolower);
@@ -386,6 +446,21 @@ OBAccelFullScaleRange fullAccelScaleRangeFromString(std::string &full_scale_rang
   }
 }
 
+std::string fullAccelScaleRangeToString(const OBAccelFullScaleRange &full_scale_range) {
+  switch (full_scale_range) {
+    case OB_ACCEL_FS_2g:
+      return "2g";
+    case OB_ACCEL_FS_4g:
+      return "4g";
+    case OB_ACCEL_FS_8g:
+      return "8g";
+    case OB_ACCEL_FS_16g:
+      return "16g";
+    default:
+      return "2g";
+  }
+}
+
 std::string parseUsbPort(const std::string &line) {
   std::string port_id;
   std::regex self_regex("(?:[^ ]+/usb[0-9]+[0-9./-]*/){0,1}([0-9.-]+)(:){0,1}[^ ]*",