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chore: use default stream profile

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This commit is contained in:
Joe Dong
2024-05-09 11:34:03 +08:00
parent 26a17959ff
commit b6a6304a2a
5 changed files with 1329 additions and 65 deletions
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orbbec_camera/config/OrbbecSDKConfig_v1.0.xml
+1277 -13
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File diff suppressed because it is too large Load Diff
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1 -3
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@@ -160,7 +160,7 @@ class OBCameraNode {
void setupProfiles();
void printSensorProfiles(const std::shared_ptr<ob::Sensor>& sensor);
void printSensorProfiles(const std::shared_ptr<ob::Sensor>& sensor);
void selectBaseStream();
@@ -325,8 +325,6 @@ class OBCameraNode {
static bool isGemini335PID(uint32_t pid);
std::string selectPreset(uint32_t pid);
private:
rclcpp::Node* node_ = nullptr;
std::shared_ptr<ob::Device> device_ = nullptr;
orbbec_camera/launch/gemini_camera.launch.py
+18 -18
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@@ -21,32 +21,32 @@ def generate_launch_description():
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='1280'),
DeclareLaunchArgument('color_height', default_value='720'),
DeclareLaunchArgument('color_fps', default_value='15'),
DeclareLaunchArgument('color_format', default_value='MJPG'),
DeclareLaunchArgument('color_width', default_value='0'),
DeclareLaunchArgument('color_height', default_value='0'),
DeclareLaunchArgument('color_fps', default_value='0'),
DeclareLaunchArgument('color_format', default_value='ANY'),
DeclareLaunchArgument('enable_color', default_value='true'),
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
DeclareLaunchArgument('depth_width', default_value='848'),
DeclareLaunchArgument('depth_height', default_value='480'),
DeclareLaunchArgument('depth_fps', default_value='15'),
DeclareLaunchArgument('depth_format', default_value='Y16'),
DeclareLaunchArgument('depth_width', default_value='0'),
DeclareLaunchArgument('depth_height', default_value='0'),
DeclareLaunchArgument('depth_fps', default_value='0'),
DeclareLaunchArgument('depth_format', default_value='ANY'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('left_ir_width', default_value='848'),
DeclareLaunchArgument('left_ir_height', default_value='480'),
DeclareLaunchArgument('left_ir_fps', default_value='15'),
DeclareLaunchArgument('left_ir_format', default_value='Y8'),
DeclareLaunchArgument('left_ir_width', default_value='0'),
DeclareLaunchArgument('left_ir_height', default_value='0'),
DeclareLaunchArgument('left_ir_fps', default_value='0'),
DeclareLaunchArgument('left_ir_format', default_value='ANY'),
DeclareLaunchArgument('enable_left_ir', default_value='true'),
DeclareLaunchArgument('left_ir_qos', default_value='default'),
DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('right_ir_width', default_value='848'),
DeclareLaunchArgument('right_ir_height', default_value='480'),
DeclareLaunchArgument('right_ir_fps', default_value='15'),
DeclareLaunchArgument('right_ir_format', default_value='Y8'),
DeclareLaunchArgument('right_ir_width', default_value='0'),
DeclareLaunchArgument('right_ir_height', default_value='0'),
DeclareLaunchArgument('right_ir_fps', default_value='0'),
DeclareLaunchArgument('right_ir_format', default_value='ANY'),
DeclareLaunchArgument('enable_right_ir', default_value='true'),
DeclareLaunchArgument('right_ir_qos', default_value='default'),
DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
@@ -105,8 +105,8 @@ def generate_launch_description():
DeclareLaunchArgument('align_mode', default_value='SW'),
DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
DeclareLaunchArgument('enable_laser', default_value='true'),
DeclareLaunchArgument('depth_precision', default_value='1mm'),
DeclareLaunchArgument('device_preset', default_value=''),
DeclareLaunchArgument('depth_precision', default_value=''),
DeclareLaunchArgument('device_preset', default_value='Default'),
# Laser on/off alternate mode, 0: off, 1: on-off alternate, 2: off-on alternate.
DeclareLaunchArgument('laser_on_off_mode', default_value='0'),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
orbbec_camera/src/ob_camera_node.cpp
+30 -31
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@@ -134,8 +134,11 @@ void OBCameraNode::setupDevices() {
}
auto info = device_->getDeviceInfo();
try {
device_->setBoolProperty(OB_PROP_DEVICE_USB3_REPEAT_IDENTIFY_BOOL,
retry_on_usb3_detection_failure_);
if (device_->isPropertySupported(OB_PROP_DEVICE_USB3_REPEAT_IDENTIFY_BOOL,
OB_PERMISSION_READ_WRITE)) {
device_->setBoolProperty(OB_PROP_DEVICE_USB3_REPEAT_IDENTIFY_BOOL,
retry_on_usb3_detection_failure_);
}
if (depth_registration_) {
align_filter_ = std::make_unique<ob::Align>(align_target_stream_);
}
@@ -153,6 +156,11 @@ void OBCameraNode::setupDevices() {
device_->setIntProperty(OB_PROP_LASER_ON_OFF_MODE_INT, laser_on_off_mode_);
}
if (!device_preset_.empty()) {
RCLCPP_INFO_STREAM(logger_, "Available presets:");
auto preset_list = device_->getAvailablePresetList();
for (uint32_t i = 0; i < preset_list->count(); i++) {
RCLCPP_INFO_STREAM(logger_, "Preset " << i << ": " << preset_list->getName(i));
}
RCLCPP_INFO_STREAM(logger_, "Load device preset: " << device_preset_);
device_->loadPreset(device_preset_.c_str());
}
@@ -391,10 +399,14 @@ void OBCameraNode::setupProfiles() {
std::shared_ptr<ob::VideoStreamProfile> selected_profile;
std::shared_ptr<ob::VideoStreamProfile> default_profile;
try {
selected_profile =
profiles->getVideoStreamProfile(width_[elem], height_[elem], format_[elem], fps_[elem]);
default_profile =
profiles->getVideoStreamProfile(width_[elem], height_[elem], format_[elem]);
if (width_[elem] == 0 && height_[elem] == 0 && fps_[elem] == 0 &&
format_[elem] == OB_FORMAT_UNKNOWN) {
selected_profile = profiles->getProfile(0)->as<ob::VideoStreamProfile>();
} else {
selected_profile = profiles->getVideoStreamProfile(width_[elem], height_[elem],
format_[elem], fps_[elem]);
}
} catch (const ob::Error &ex) {
RCLCPP_ERROR_STREAM(
logger_, "Failed to get " << stream_name_[elem] << " profile: " << ex.getMessage());
@@ -435,8 +447,10 @@ void OBCameraNode::setupProfiles() {
images_[elem] =
cv::Mat(height_[elem], width_[elem], image_format_[elem], cv::Scalar(0, 0, 0));
RCLCPP_INFO_STREAM(
logger_, " stream " << stream_name_[elem] << " is enabled - width: " << width_[elem]
<< ", height: " << height_[elem] << ", fps: " << fps_[elem] << ", "
logger_, " stream " << stream_name_[elem]
<< " is enabled - width: " << selected_profile->width()
<< ", height: " << selected_profile->height()
<< ", fps: " << selected_profile->fps() << ", "
<< "Format: " << magic_enum::enum_name(selected_profile->format()));
}
}
@@ -637,11 +651,11 @@ void OBCameraNode::getParameters() {
camera_link_frame_id_ = camera_name_ + "_link";
for (auto stream_index : IMAGE_STREAMS) {
std::string param_name = stream_name_[stream_index] + "_width";
setAndGetNodeParameter(width_[stream_index], param_name, IMAGE_WIDTH);
setAndGetNodeParameter(width_[stream_index], param_name, 0);
param_name = stream_name_[stream_index] + "_height";
setAndGetNodeParameter(height_[stream_index], param_name, IMAGE_HEIGHT);
setAndGetNodeParameter(height_[stream_index], param_name, 0);
param_name = stream_name_[stream_index] + "_fps";
setAndGetNodeParameter(fps_[stream_index], param_name, IMAGE_FPS);
setAndGetNodeParameter(fps_[stream_index], param_name, 0);
param_name = "enable_" + stream_name_[stream_index];
setAndGetNodeParameter(enable_stream_[stream_index], param_name, false);
param_name = "flip_" + stream_name_[stream_index];
@@ -789,12 +803,6 @@ void OBCameraNode::getParameters() {
align_target_stream_ = obStreamTypeFromString(align_target_stream_str_);
setAndGetNodeParameter<bool>(retry_on_usb3_detection_failure_, "retry_on_usb3_detection_failure",
false);
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info.get());
auto pid = device_info->pid();
if (isGemini335PID(pid)) {
device_preset_ = selectPreset(pid);
}
}
void OBCameraNode::setupTopics() {
@@ -856,10 +864,11 @@ void OBCameraNode::setupPipelineConfig() {
for (const auto &stream_index : IMAGE_STREAMS) {
if (enable_stream_[stream_index]) {
RCLCPP_INFO_STREAM(logger_, "Enable " << stream_name_[stream_index] << " stream");
RCLCPP_INFO_STREAM(
logger_, "Stream " << stream_name_[stream_index] << " width: " << width_[stream_index]
<< " height: " << height_[stream_index] << " fps: "
<< fps_[stream_index] << " format: " << format_str_[stream_index]);
auto profile = stream_profile_[stream_index]->as<ob::VideoStreamProfile>();
RCLCPP_INFO_STREAM(logger_,
"Stream " << stream_name_[stream_index] << " width: " << profile->width()
<< " height: " << profile->height() << " fps: " << profile->fps()
<< " format: " << profile->format());
pipeline_config_->enableStream(stream_profile_[stream_index]);
}
}
@@ -2053,16 +2062,6 @@ bool OBCameraNode::isGemini335PID(uint32_t pid) {
pid == GEMINI_336LE_PID;
}
std::string OBCameraNode::selectPreset(uint32_t pid) {
switch (pid) {
case GEMINI_336_PID:
case GEMINI_336L_PID:
return "AMR with IR-Pass";
default:
return "Default";
}
}
orbbec_camera_msgs::msg::IMUInfo OBCameraNode::createIMUInfo(
const stream_index_pair &stream_index) {
orbbec_camera_msgs::msg::IMUInfo imu_info;
orbbec_camera/src/utils.cpp
+3
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@@ -260,6 +260,9 @@ std::string getObSDKVersion() {
}
OBFormat OBFormatFromString(const std::string &format) {
if (format.empty()) {
return OB_FORMAT_UNKNOWN;
}
std::string fixed_format;
std::transform(format.begin(), format.end(), std::back_inserter(fixed_format),
[](const auto ch) { return std::isalpha(ch) ? toupper(ch) : ch; });