mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-12 11:10:19 +08:00
Merge branch 'v2-main' into test_interleave_mode_opdk
This commit is contained in:
datean
@@ -115,20 +115,14 @@ Here is the device support list of main branch (v1.x) and v2-main branch (v2.x):
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</tbody>
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</table>
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**Note**: If you do not find your device, please contact our FAE or sales representative for help.
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**Definition**:
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1. recommended for new designs: we will provide full supports with new features, bug fix and performance optimization;
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2. full maintenance: we will provide bug fix support;
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3. limited maintenance: we will provide critical bug fix support;
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4. not supported: we will not support specific device in this version;
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5. to be supported: we will add support in the near future.
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## Table of Contents
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@@ -454,6 +448,10 @@ The following are the launch parameters available:
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the firmware, and if hardware logging is desired, it should also be set to `true`.
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- `log_level` : SDK log level, the default value is `info`, the optional values are `debug`, `info`, `warn`, `error`, `fatal`.
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- `enable_color_undistortion`: Enables color undistortion, the default value is `false`. Note that our color cameras exhibit minimal distortion, and typically, undistortion is not necessary.
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- `interleave_ae_mode` : Set laser or hdr interleave.
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- `interleave_frame_enable` : Whether to enable interleave frame mode.
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- `interleave_skip_enable` : Whether to enable skip frames.
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- `interleave_skip_index` : Set skip pattern IR or flood IR.
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**IMPORTANT**: *Please carefully read the instructions regarding software filtering settings
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at [this link](https://www.orbbec.com/docs/g330-use-depth-post-processing-blocks/). If you are uncertain, do not modify
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@@ -585,6 +583,9 @@ to `true` in the stream that corresponds to the argument of the launch file.
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- `/camera/toggle_color`
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- `/camera/toggle_depth`
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- `/camera/toggle_ir`
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- `/camera/set_reset_timestamp`
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- `/camera/set_sync_interleaverlaser`
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- `/camera/set_sync_hosttime`
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## All available topics
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@@ -767,18 +768,18 @@ Currently, the following devices are supported by the OrbbecSDK ROS2 Wrapper v2-
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For optimal performance, we strongly recommend updating to the latest firmware version. This ensures that you benefit from the most recent enhancements and bug fixes.
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| Product List | Minimal Firmware Version | **Launch File** |
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| :-------------- | :--------------- | :-------------------------- |
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| Astra2 | 2.8.20 | astra2.launch.py |
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| Femto Mega | 1.1.7/1.2.7 | femto_mega.launch.py |
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| Femto Bolt | 1.0.6/1.0.9 | femto_bolt.launch.py |
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| Gemini 2 | 1.4.60 /1.4.76 | gemini2.launch.py |
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| Gemini 2 L | 1.4.32 | gemini2L.launch.py |
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| Gemini 335 | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 335L | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 335Lg | 1.3.46 | gemini_330_series.launch.py |
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| Gemini 336 | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 336L | 1.2.20 | gemini_330_series.launch.py |
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| Product List | Minimal Firmware Version | **Launch File** |
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| :----------- | :----------------------- | :-------------------------- |
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| Astra2 | 2.8.20 | astra2.launch.py |
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| Femto Mega | 1.1.7/1.2.7 | femto_mega.launch.py |
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| Femto Bolt | 1.0.6/1.0.9 | femto_bolt.launch.py |
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| Gemini 2 | 1.4.60 /1.4.76 | gemini2.launch.py |
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| Gemini 2 L | 1.4.32 | gemini2L.launch.py |
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| Gemini 335 | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 335L | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 335Lg | 1.3.46 | gemini_330_series.launch.py |
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| Gemini 336 | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 336L | 1.2.20 | gemini_330_series.launch.py |
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All launch files are essentially similar, with the primary difference being the default values of the parameters set
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for different models within the same series. Differences in USB standards, such as USB 2.0 versus USB 3.0, may require adjustments to these parameters. If you encounter a startup failure, please carefully review the specification manual. Pay special attention to the resolution settings in the launch file, as well as other parameters, to ensure compatibility and optimal performance.
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@@ -1,26 +1,13 @@
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{
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"save_rgbir_params": {
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"time_domain": "device",
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"image_number": "100",
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"usb_ports": [
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"2-3",
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"2-1"
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],
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"ir_topics": [
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"/G330_0/left_ir/image_raw",
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"/G330_1/left_ir/image_raw"
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],
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"left_ir_metadata_topic": [
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"/G330_0/left_ir/metadata",
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"/G330_1/left_ir/metadata"
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],
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"color_topics": [
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"/G330_0/color/image_raw",
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"/G330_1/color/image_raw"
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],
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"color_metadata_topic": [
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"/G330_0/color/metadata",
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"/G330_1/color/metadata"
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"camera_name": [
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"G330_0",
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"G330_1"
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]
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}
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}
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@@ -302,8 +302,6 @@ class OBCameraNode {
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void getLdpMeasureDistanceCallback(const std::shared_ptr<GetInt32::Request>& request,
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std::shared_ptr<GetInt32::Response>& response);
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void setSYNCImmediatelyCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
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std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
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void setRESETTimestampCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
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std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
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void setSYNCInterleaveLaserCallback(const std::shared_ptr<SetInt32 ::Request>& request,
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@@ -460,7 +458,6 @@ class OBCameraNode {
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rclcpp::Service<SetInt32>::SharedPtr set_fan_work_mode_srv_;
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rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr toggle_sensors_srv_;
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rclcpp::Service<GetInt32>::SharedPtr get_ldp_measure_distance_srv_;
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rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_sync_immediately_srv_;
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rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_reset_timestamp_srv_;
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rclcpp::Service<SetInt32>::SharedPtr set_interleaver_laser_sync_srv_;
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rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_sync_host_time_srv_;
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@@ -169,11 +169,6 @@ void OBCameraNode::setupCameraCtrlServices() {
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std::shared_ptr<GetInt32::Response> response) {
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getLdpMeasureDistanceCallback(request, response);
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});
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set_sync_immediately_srv_ = node_->create_service<SetBool>(
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"set_sync_immediately", [this](const std::shared_ptr<SetBool::Request> request,
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std::shared_ptr<SetBool::Response> response) {
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setSYNCImmediatelyCallback(request, response);
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});
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set_reset_timestamp_srv_ = node_->create_service<SetBool>(
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"set_reset_timestamp", [this](const std::shared_ptr<SetBool::Request> request,
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std::shared_ptr<SetBool::Response> response) {
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@@ -786,25 +781,6 @@ void OBCameraNode::setIRLongExposureCallback(
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}
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}
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void OBCameraNode::setSYNCImmediatelyCallback(
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const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
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std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
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(void)request;
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try {
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TRY_EXECUTE_BLOCK(device_->timerSyncWithHost());
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response->success = true;
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} catch (const ob::Error& e) {
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response->message = e.getMessage();
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response->success = false;
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} catch (const std::exception& e) {
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response->message = e.what();
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response->success = false;
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} catch (...) {
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response->message = "unknown error";
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response->success = false;
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}
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}
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void OBCameraNode::setRESETTimestampCallback(
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const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
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std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
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@@ -7,7 +7,7 @@
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#include <message_filters/subscriber.h>
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#include <message_filters/sync_policies/approximate_time.h>
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#include <message_filters/synchronizer.h>
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#include <std_msgs/msg/bool.hpp>
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#include <std_msgs/msg/int32.hpp>
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#include <filesystem>
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namespace orbbec_camera {
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namespace tools {
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@@ -18,10 +18,7 @@ struct ImageMetadata {
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class MultiCameraSubscriber : public rclcpp::Node {
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public:
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MultiCameraSubscriber() : Node("multi_camera_subscriber") {
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device_init();
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currenttimes_ = getCurrentTimes();
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}
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MultiCameraSubscriber() : Node("multi_camera_subscriber") { device_init(); }
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void device_init() {
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try {
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auto context = std::make_unique<ob::Context>();
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@@ -62,7 +59,7 @@ class MultiCameraSubscriber : public rclcpp::Node {
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"usb_port: " << pair.first << ", index: " << pair.second);
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}
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auto custom_qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_sensor_data));
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capture_control_sub_ = this->create_subscription<std_msgs::msg::Bool>(
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capture_control_sub_ = this->create_subscription<std_msgs::msg::Int32>(
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"start_capture", custom_qos,
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std::bind(&MultiCameraSubscriber::controlCaptureCallback, this, std::placeholders::_1));
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}
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@@ -80,24 +77,29 @@ class MultiCameraSubscriber : public rclcpp::Node {
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}
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nlohmann::json json_data;
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file >> json_data;
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time_domain_= json_data["save_rgbir_params"]["time_domain"].get<std::string>();
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time_domain_ =(time_domain_ == "device") ? "_d" : (time_domain_ == "global" ? "_g" : "_unknown");
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image_number_ = json_data["save_rgbir_params"]["image_number"].get<std::string>();
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time_domain_ = json_data["save_rgbir_params"]["time_domain"].get<std::string>();
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time_domain_ =
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(time_domain_ == "device") ? "_d" : (time_domain_ == "global" ? "_g" : "_unknown");
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usb_params_ = json_data["save_rgbir_params"]["usb_ports"].get<std::vector<std::string>>();
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left_ir_metadata_topic_ =
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json_data["save_rgbir_params"]["left_ir_metadata_topic"].get<std::vector<std::string>>();
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ir_topics_ = json_data["save_rgbir_params"]["ir_topics"].get<std::vector<std::string>>();
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color_topics_ = json_data["save_rgbir_params"]["color_topics"].get<std::vector<std::string>>();
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color_metadata_topic_ =
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json_data["save_rgbir_params"]["color_metadata_topic"].get<std::vector<std::string>>();
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camera_name_ = json_data["save_rgbir_params"]["camera_name"].get<std::vector<std::string>>();
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left_ir_topics_.resize(camera_name_.size());
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left_ir_metadata_topic_.resize(camera_name_.size());
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color_topics_.resize(camera_name_.size());
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color_metadata_topic_.resize(camera_name_.size());
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for (size_t i = 0; i < camera_name_.size(); ++i) {
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left_ir_topics_[i] = "/" + camera_name_[i] + "/left_ir/image_raw";
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left_ir_metadata_topic_[i] = "/" + camera_name_[i] + "/left_ir/metadata";
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color_topics_[i] = "/" + camera_name_[i] + "/color/image_raw";
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color_metadata_topic_[i] = "/" + camera_name_[i] + "/color/metadata";
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}
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}
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void topic_init() {
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auto custom_qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default));
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RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
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"color_topic: " << ir_topics_.size());
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for (size_t i = 0; i < ir_topics_.size(); ++i) {
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"camera_name_.size(): " << camera_name_.size());
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for (size_t i = 0; i < camera_name_.size(); ++i) {
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RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
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"ir_topic: " << ir_topics_[i]);
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"left_ir_topic: " << left_ir_topics_[i]);
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RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
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"left_ir_metadata_topic_: " << left_ir_metadata_topic_[i]);
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RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
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@@ -112,7 +114,7 @@ class MultiCameraSubscriber : public rclcpp::Node {
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color_sub_options.callback_group = reentrant_callback_group_;
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|
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auto ir_sub = this->create_subscription<sensor_msgs::msg::Image>(
|
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ir_topics_[i], custom_qos,
|
||||
left_ir_topics_[i], custom_qos,
|
||||
[this, i](std::shared_ptr<const sensor_msgs::msg::Image> msg) {
|
||||
this->irCallback(msg, i);
|
||||
},
|
||||
@@ -142,17 +144,17 @@ class MultiCameraSubscriber : public rclcpp::Node {
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||||
color_subscribers_.push_back(color_sub);
|
||||
color_meta_subscribers_.push_back(color_metadata_sub);
|
||||
|
||||
ir_image_buffers_.resize(ir_topics_.size());
|
||||
color_image_buffers_.resize(ir_topics_.size());
|
||||
ir_current_timestamp_buffers_.resize(ir_topics_.size());
|
||||
color_current_timestamp_buffers_.resize(ir_topics_.size());
|
||||
ir_timestamp_buffers_.resize(ir_topics_.size());
|
||||
color_timestamp_buffers_.resize(ir_topics_.size());
|
||||
left_ir_metadata_.exposure_buffs.resize(ir_topics_.size());
|
||||
left_ir_metadata_.gain_buffs.resize(ir_topics_.size());
|
||||
color_metadata_.exposure_buffs.resize(ir_topics_.size());
|
||||
color_metadata_.gain_buffs.resize(ir_topics_.size());
|
||||
callback_called_ = std::vector<bool>(ir_topics_.size(), false);
|
||||
ir_image_buffers_.resize(left_ir_topics_.size());
|
||||
color_image_buffers_.resize(left_ir_topics_.size());
|
||||
ir_current_timestamp_buffers_.resize(left_ir_topics_.size());
|
||||
color_current_timestamp_buffers_.resize(left_ir_topics_.size());
|
||||
ir_timestamp_buffers_.resize(left_ir_topics_.size());
|
||||
color_timestamp_buffers_.resize(left_ir_topics_.size());
|
||||
left_ir_metadata_.exposure_buffs.resize(left_ir_topics_.size());
|
||||
left_ir_metadata_.gain_buffs.resize(left_ir_topics_.size());
|
||||
color_metadata_.exposure_buffs.resize(left_ir_topics_.size());
|
||||
color_metadata_.gain_buffs.resize(left_ir_topics_.size());
|
||||
callback_called_ = std::vector<bool>(left_ir_topics_.size(), false);
|
||||
}
|
||||
}
|
||||
std::string getCurrentTimes() {
|
||||
@@ -204,11 +206,11 @@ class MultiCameraSubscriber : public rclcpp::Node {
|
||||
auto &color_meta_exposure = color_metadata_.exposure_buffs[index];
|
||||
auto &color_meta_gain = color_metadata_.gain_buffs[index];
|
||||
callback_called_[index] = true;
|
||||
if (ir_images.size() < static_cast<size_t>(std::stoi(image_number_)) ||
|
||||
color_images.size() < static_cast<size_t>(std::stoi(image_number_))) {
|
||||
if (ir_images.size() < static_cast<size_t>(is_saving_images_) ||
|
||||
color_images.size() < static_cast<size_t>(is_saving_images_)) {
|
||||
return;
|
||||
}
|
||||
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"), "index:"<<index);
|
||||
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"), "index:" << index);
|
||||
auto usb_iter = usb_index_map_.find(usb_numbers_[index]);
|
||||
auto serial_iter = serial_numbers_.find(usb_numbers_[index]);
|
||||
int usb_index = usb_iter->second;
|
||||
@@ -218,12 +220,13 @@ class MultiCameraSubscriber : public rclcpp::Node {
|
||||
}
|
||||
std::string serial_index = serial_iter->second;
|
||||
|
||||
for (size_t i = 0; i < static_cast<size_t>(std::stoi(image_number_)); i++) {
|
||||
for (size_t i = 0; i < static_cast<size_t>(is_saving_images_); i++) {
|
||||
std::string folder = generateFolderName(serial_index, usb_index);
|
||||
std::string ir_filename = folder + "/ir#left_SN" + serial_index + "_Index" +
|
||||
std::to_string(usb_index) + time_domain_ + ir_current_timestamps[i] + "_f" +
|
||||
std::to_string(i) + "_s" + ir_timestamps[i] + "_e" +
|
||||
left_ir_meta_exposure[i] + "_g" + left_ir_meta_gain[i] + "_.jpg";
|
||||
std::to_string(usb_index) + time_domain_ +
|
||||
ir_current_timestamps[i] + "_f" + std::to_string(i) + "_s" +
|
||||
ir_timestamps[i] + "_e" + left_ir_meta_exposure[i] + "_g" +
|
||||
left_ir_meta_gain[i] + "_.jpg";
|
||||
if (ir_images[i].empty()) {
|
||||
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"), "over ");
|
||||
continue;
|
||||
@@ -231,10 +234,10 @@ class MultiCameraSubscriber : public rclcpp::Node {
|
||||
|
||||
cv::imwrite(ir_filename, ir_images[i]);
|
||||
|
||||
std::string color_filename = folder + "/color_SN" + serial_index + "_Index" +
|
||||
std::to_string(usb_index) + time_domain_ + color_current_timestamps[i] +
|
||||
"_f" + std::to_string(i) + "_s" + color_timestamps[i] + "_e" +
|
||||
color_meta_exposure[i] + "_g" + color_meta_gain[i] +"_.jpg";
|
||||
std::string color_filename =
|
||||
folder + "/color_SN" + serial_index + "_Index" + std::to_string(usb_index) +
|
||||
time_domain_ + color_current_timestamps[i] + "_f" + std::to_string(i) + "_s" +
|
||||
color_timestamps[i] + "_e" + color_meta_exposure[i] + "_g" + color_meta_gain[i] + "_.jpg";
|
||||
if (color_images[i].empty()) {
|
||||
continue;
|
||||
}
|
||||
@@ -257,24 +260,26 @@ class MultiCameraSubscriber : public rclcpp::Node {
|
||||
std::all_of(callback_called_.begin(), callback_called_.end(), [](bool v) { return v; });
|
||||
if (all_true) {
|
||||
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"), "over ");
|
||||
is_saving_images_ = 0;
|
||||
ir_image_buffers_.clear();
|
||||
ir_current_timestamp_buffers_.clear();
|
||||
ir_timestamp_buffers_.clear();
|
||||
color_image_buffers_.clear();
|
||||
color_current_timestamp_buffers_.clear();
|
||||
color_timestamp_buffers_.clear();
|
||||
rclcpp::shutdown();
|
||||
// rclcpp::shutdown();
|
||||
}
|
||||
}
|
||||
|
||||
void controlCaptureCallback(const std_msgs::msg::Bool::SharedPtr msg) {
|
||||
void controlCaptureCallback(const std_msgs::msg::Int32::SharedPtr msg) {
|
||||
currenttimes_ = getCurrentTimes();
|
||||
is_saving_images_ = msg->data;
|
||||
topic_init();
|
||||
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"), "jjjj " << is_saving_images_);
|
||||
}
|
||||
void irCallback(std::shared_ptr<const sensor_msgs::msg::Image> image, size_t index) {
|
||||
std::lock_guard<std::mutex> lock(image_mutex_);
|
||||
if (!callback_called_[index] && is_saving_images_) {
|
||||
if (!callback_called_[index] && static_cast<size_t>(is_saving_images_)) {
|
||||
cv::Mat ir_mat = cv_bridge::toCvCopy(image, image->encoding)->image;
|
||||
std::string current_timestamp_ir = getCurrentTimestamp(image);
|
||||
std::string timestamp_ir = getTimestamp();
|
||||
@@ -284,15 +289,15 @@ class MultiCameraSubscriber : public rclcpp::Node {
|
||||
ir_resolution_ = std::to_string(image->width) + "x" + std::to_string(image->height);
|
||||
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
|
||||
":ir: " << index << ":" << ir_image_buffers_[index].size());
|
||||
if (ir_image_buffers_[index].size() >= static_cast<size_t>(std::stoi(image_number_)) &&
|
||||
color_image_buffers_[index].size() >= static_cast<size_t>(std::stoi(image_number_))) {
|
||||
if (ir_image_buffers_[index].size() >= static_cast<size_t>(is_saving_images_) &&
|
||||
color_image_buffers_[index].size() >= static_cast<size_t>(is_saving_images_)) {
|
||||
saveAlignedImages(index);
|
||||
}
|
||||
}
|
||||
}
|
||||
void colorCallback(std::shared_ptr<const sensor_msgs::msg::Image> image, size_t index) {
|
||||
std::lock_guard<std::mutex> lock(image_mutex_);
|
||||
if (!callback_called_[index] && is_saving_images_) {
|
||||
if (!callback_called_[index] && static_cast<size_t>(is_saving_images_)) {
|
||||
cv::Mat color_mat = cv_bridge::toCvCopy(image, image->encoding)->image;
|
||||
cv::Mat corrected_image;
|
||||
cv::cvtColor(color_mat, corrected_image, cv::COLOR_RGB2BGR);
|
||||
@@ -304,8 +309,8 @@ class MultiCameraSubscriber : public rclcpp::Node {
|
||||
color_resolution_ = std::to_string(image->width) + "x" + std::to_string(image->height);
|
||||
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
|
||||
":color: " << index << ":" << color_image_buffers_[index].size());
|
||||
if (ir_image_buffers_[index].size() >= static_cast<size_t>(std::stoi(image_number_)) &&
|
||||
color_image_buffers_[index].size() >= static_cast<size_t>(std::stoi(image_number_))) {
|
||||
if (ir_image_buffers_[index].size() >= static_cast<size_t>(is_saving_images_) &&
|
||||
color_image_buffers_[index].size() >= static_cast<size_t>(is_saving_images_)) {
|
||||
saveAlignedImages(index);
|
||||
}
|
||||
}
|
||||
@@ -333,7 +338,7 @@ class MultiCameraSubscriber : public rclcpp::Node {
|
||||
color_meta_subscribers_;
|
||||
std::vector<rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr> ir_subscribers_;
|
||||
std::vector<rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr> color_subscribers_;
|
||||
rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr capture_control_sub_;
|
||||
rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr capture_control_sub_;
|
||||
|
||||
std::map<std::string, int> usb_index_map_;
|
||||
std::map<std::string, std::string> serial_numbers_;
|
||||
@@ -343,11 +348,11 @@ class MultiCameraSubscriber : public rclcpp::Node {
|
||||
size_t count = 0;
|
||||
|
||||
std::vector<std::string> usb_params_;
|
||||
std::vector<std::string> camera_name_;
|
||||
std::vector<std::string> left_ir_metadata_topic_;
|
||||
std::vector<std::string> color_metadata_topic_;
|
||||
std::vector<std::string> ir_topics_;
|
||||
std::vector<std::string> left_ir_topics_;
|
||||
std::vector<std::string> color_topics_;
|
||||
std::string image_number_;
|
||||
std::string time_domain_;
|
||||
|
||||
std::vector<std::vector<cv::Mat>> ir_image_buffers_;
|
||||
@@ -363,7 +368,7 @@ class MultiCameraSubscriber : public rclcpp::Node {
|
||||
std::string ir_resolution_;
|
||||
std::string currenttimes_;
|
||||
|
||||
bool is_saving_images_ = false;
|
||||
int is_saving_images_ = 0;
|
||||
|
||||
ImageMetadata left_ir_metadata_ = ImageMetadata();
|
||||
ImageMetadata color_metadata_ = ImageMetadata();
|
||||
|
||||
Reference in New Issue
Block a user