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Implementing flip function for data stream.

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lixiaobin
2023-10-27 18:05:04 +08:00
parent 6ea01224c7
commit b78910b895
3 changed files with 26 additions and 1 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1
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@@ -334,6 +334,7 @@ class OBCameraNode {
ob::FormatConvertFilter format_convert_filter_; ob::FormatConvertFilter format_convert_filter_;
std::map<stream_index_pair, bool> enable_stream_; 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::string> stream_name_;
std::map<stream_index_pair, image_transport::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> std::map<stream_index_pair, rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr>
orbbec_camera/launch/deeya.launch.py
-1
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@@ -26,7 +26,6 @@ def generate_launch_description():
DeclareLaunchArgument('color_fps', default_value='30'), DeclareLaunchArgument('color_fps', default_value='30'),
DeclareLaunchArgument('color_format', default_value='RGB'), DeclareLaunchArgument('color_format', default_value='RGB'),
DeclareLaunchArgument('enable_color', default_value='true'), DeclareLaunchArgument('enable_color', default_value='true'),
DeclareLaunchArgument('flip_color', default_value='false'),
DeclareLaunchArgument('color_qos', default_value='default'), DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'), DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'), DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
orbbec_camera/src/ob_camera_node.cpp
+25
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@@ -149,6 +149,29 @@ void OBCameraNode::setupDevices() {
} }
} }
for (const auto &stream_index : IMAGE_STREAMS) {
if (enable_stream_[stream_index]) {
OBPropertyID mirrorPropertyID = OB_PROP_DEPTH_MIRROR_BOOL;
if(stream_index == COLOR){
mirrorPropertyID = OB_PROP_COLOR_MIRROR_BOOL;
} else if(stream_index == DEPTH) {
mirrorPropertyID = OB_PROP_DEPTH_MIRROR_BOOL;
} else if(stream_index == INFRA0) {
mirrorPropertyID = OB_PROP_IR_MIRROR_BOOL;
} else if(stream_index == INFRA1) {
mirrorPropertyID = OB_PROP_IR_MIRROR_BOOL;
}
else if(stream_index == INFRA2) {
mirrorPropertyID = OB_PROP_IR_RIGHT_MIRROR_BOOL;
}
if(device_->isPropertySupported(mirrorPropertyID, OB_PERMISSION_WRITE)) {
device_->setBoolProperty(mirrorPropertyID, flip_stream_[stream_index]);
}
}
}
device_->setBoolProperty(OB_PROP_DEPTH_SOFT_FILTER_BOOL, enable_soft_filter_); device_->setBoolProperty(OB_PROP_DEPTH_SOFT_FILTER_BOOL, enable_soft_filter_);
device_->setBoolProperty(OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, enable_color_auto_exposure_); device_->setBoolProperty(OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, enable_color_auto_exposure_);
device_->setBoolProperty(OB_PROP_IR_AUTO_EXPOSURE_BOOL, enable_ir_auto_exposure_); device_->setBoolProperty(OB_PROP_IR_AUTO_EXPOSURE_BOOL, enable_ir_auto_exposure_);
@@ -374,6 +397,8 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter(fps_[stream_index], param_name, IMAGE_FPS); setAndGetNodeParameter(fps_[stream_index], param_name, IMAGE_FPS);
param_name = "enable_" + stream_name_[stream_index]; param_name = "enable_" + stream_name_[stream_index];
setAndGetNodeParameter(enable_stream_[stream_index], param_name, false); setAndGetNodeParameter(enable_stream_[stream_index], param_name, false);
param_name = "flip_" + stream_name_[stream_index];
setAndGetNodeParameter(flip_stream_[stream_index], param_name, false);
param_name = camera_name_ + "_" + stream_name_[stream_index] + "_frame_id"; param_name = camera_name_ + "_" + stream_name_[stream_index] + "_frame_id";
std::string default_frame_id = camera_name_ + "_" + stream_name_[stream_index] + "_frame"; std::string default_frame_id = camera_name_ + "_" + stream_name_[stream_index] + "_frame";
setAndGetNodeParameter(frame_id_[stream_index], param_name, default_frame_id); setAndGetNodeParameter(frame_id_[stream_index], param_name, default_frame_id);