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默存
2023-04-28 09:44:16 +08:00
parent 9dfdcbe100
commit af9974468d
9 changed files with 540 additions and 19 deletions
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orbbec_camera/src/utils.cpp
+84 -6
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@@ -256,12 +256,8 @@ bool isOpenNIDevice(int pid) {
0x063a, 0x0650, 0x0651, 0x0654, 0x0655, 0x0656, 0x0657, 0x0658, 0x0659, 0x065a,
0x065b, 0x065c, 0x065d, 0x0698, 0x0699, 0x069a};
for (const auto &pid_openni : OPENNI_DEVICE_PIDS) {
if (pid == pid_openni) {
return true;
}
}
return false;
return std::any_of(OPENNI_DEVICE_PIDS.begin(), OPENNI_DEVICE_PIDS.end(),
[pid](int pid_openni) { return pid == pid_openni; });
}
OB_DEPTH_PRECISION_LEVEL depthPrecisionLevelFromString(
@@ -302,4 +298,86 @@ OBSyncMode OBSyncModeFromString(const std::string &mode) {
}
}
OB_SAMPLE_RATE sampleRateFromString(std::string &sample_rate) {
// covert to lower case
std::transform(sample_rate.begin(), sample_rate.end(), sample_rate.begin(), ::tolower);
if (sample_rate == "1.5625hz") {
return OB_SAMPLE_RATE_1_5625_HZ;
} else if (sample_rate == "3.125hz") {
return OB_SAMPLE_RATE_3_125_HZ;
} else if (sample_rate == "6.25hz") {
return OB_SAMPLE_RATE_6_25_HZ;
} else if (sample_rate == "12.5hz") {
return OB_SAMPLE_RATE_12_5_HZ;
} else if (sample_rate == "25hz") {
return OB_SAMPLE_RATE_25_HZ;
} else if (sample_rate == "50hz") {
return OB_SAMPLE_RATE_50_HZ;
} else if (sample_rate == "100hz") {
return OB_SAMPLE_RATE_100_HZ;
} else if (sample_rate == "200hz") {
return OB_SAMPLE_RATE_200_HZ;
} else if (sample_rate == "500hz") {
return OB_SAMPLE_RATE_500_HZ;
} else if (sample_rate == "1khz") {
return OB_SAMPLE_RATE_1_KHZ;
} else if (sample_rate == "2khz") {
return OB_SAMPLE_RATE_2_KHZ;
} else if (sample_rate == "4khz") {
return OB_SAMPLE_RATE_4_KHZ;
} else if (sample_rate == "8khz") {
return OB_SAMPLE_RATE_8_KHZ;
} else if (sample_rate == "16khz") {
return OB_SAMPLE_RATE_16_KHZ;
} else if (sample_rate == "32khz") {
return OB_SAMPLE_RATE_32_KHZ;
} else {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("utils"), "Unknown OB_SAMPLE_RATE: " << sample_rate);
return OB_SAMPLE_RATE_100_HZ;
}
}
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);
if (full_scale_range == "16dps") {
return OB_GYRO_FS_16dps;
} else if (full_scale_range == "31dps") {
return OB_GYRO_FS_31dps;
} else if (full_scale_range == "62dps") {
return OB_GYRO_FS_62dps;
} else if (full_scale_range == "125dps") {
return OB_GYRO_FS_125dps;
} else if (full_scale_range == "250dps") {
return OB_GYRO_FS_250dps;
} else if (full_scale_range == "500dps") {
return OB_GYRO_FS_500dps;
} else if (full_scale_range == "1000dps") {
return OB_GYRO_FS_1000dps;
} else if (full_scale_range == "2000dps") {
return OB_GYRO_FS_2000dps;
} else {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("utils"),
"Unknown OB_GYRO_FULL_SCALE_RANGE: " << full_scale_range);
return OB_GYRO_FS_2000dps;
}
}
OBAccelFullScaleRange fullAccelScaleRangeFromString(std::string &full_scale_range) {
std::transform(full_scale_range.begin(), full_scale_range.end(), full_scale_range.begin(),
::tolower);
if (full_scale_range == "2g") {
return OB_ACCEL_FS_2g;
} else if (full_scale_range == "4g") {
return OB_ACCEL_FS_4g;
} else if (full_scale_range == "8g") {
return OB_ACCEL_FS_8g;
} else if (full_scale_range == "16g") {
return OB_ACCEL_FS_16g;
} else {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("utils"),
"Unknown OB_ACCEL_FULL_SCALE_RANGE: " << full_scale_range);
return OB_ACCEL_FS_16g;
}
}
} // namespace orbbec_camera