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add gemini2 RL

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This commit is contained in:
Joe Dong
2024-04-07 19:32:33 +08:00
parent 3685d35c81
commit a90c9c4ff1
3 changed files with 3 additions and 2 deletions
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orbbec_camera/include/orbbec_camera/constants.h
+1
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@@ -112,6 +112,7 @@ const int32_t ASTRA_MINI_PID = 0x0404;
const int32_t ASTRA_MINI_S_PID = 0x0407; const int32_t ASTRA_MINI_S_PID = 0x0407;
const int GEMINI2_PID = 0x0670; const int GEMINI2_PID = 0x0670;
const int GEMINI2R_PID = 0x06d0; const int GEMINI2R_PID = 0x06d0;
const int GEMINI2RL_PID = 0x06d1;
const std::string ORB_DEFAULT_LOCK_NAME = "orbbec_device_lock"; const std::string ORB_DEFAULT_LOCK_NAME = "orbbec_device_lock";
} // namespace orbbec_camera } // namespace orbbec_camera
orbbec_camera/launch/gemini2R.launch.py
+1 -1
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@@ -108,7 +108,7 @@ def generate_launch_description():
DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='0.1'), DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='0.1'),
DeclareLaunchArgument('temporal_filter_weight', default_value='0.4'), DeclareLaunchArgument('temporal_filter_weight', default_value='0.4'),
DeclareLaunchArgument('hole_filling_filter_mode', default_value='FILL_TOP'), DeclareLaunchArgument('hole_filling_filter_mode', default_value='FILL_TOP'),
DeclareLaunchArgument('align_mode', default_value='HW'), DeclareLaunchArgument('align_mode', default_value='SW'),
] ]
# Node configuration # Node configuration
orbbec_camera/src/ob_camera_node.cpp
+1 -1
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@@ -711,7 +711,7 @@ void OBCameraNode::setupPipelineConfig() {
if (depth_registration_ && enable_stream_[COLOR] && enable_stream_[DEPTH]) { if (depth_registration_ && enable_stream_[COLOR] && enable_stream_[DEPTH]) {
auto info = device_->getDeviceInfo(); auto info = device_->getDeviceInfo();
auto pid = info->pid(); auto pid = info->pid();
if (pid == FEMTO_BOLT_PID || pid == GEMINI2R_PID) { if (pid == FEMTO_BOLT_PID || pid == GEMINI2R_PID || pid == GEMINI2RL_PID) {
RCLCPP_INFO_STREAM(logger_, "set align mode ALIGN_D2C_SW_MODE."); RCLCPP_INFO_STREAM(logger_, "set align mode ALIGN_D2C_SW_MODE.");
pipeline_config_->setAlignMode(ALIGN_D2C_SW_MODE); pipeline_config_->setAlignMode(ALIGN_D2C_SW_MODE);
} else { } else {