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bump to v2.2.4

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jj
2025-02-27 16:51:26 +08:00
parent c2c1bb3d6d
commit bafcf487d9
3 changed files with 206 additions and 18 deletions
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orbbec_camera/config/OrbbecSDKConfig_v2.0.xml
+204 -16
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@@ -1517,8 +1517,7 @@
</RightIR> </RightIR>
</Gemini336L> </Gemini336L>
<!--DaBaiA <!--DaBaiA config-->
config-->
<DaBaiA> <DaBaiA>
<!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
will determine the device's speciality. Optional values: V4L2, LibUVC --> will determine the device's speciality. Optional values: V4L2, LibUVC -->
@@ -1540,8 +1539,6 @@
to enable firmware upgrade foolproof by default, only internal version supports--> to enable firmware upgrade foolproof by default, only internal version supports-->
<FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof> <FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
<!-- Depth Filter Params -->
<!-- <DepthFilterDDOConfig>./Gemini2_v1.0.json</DepthFilterDDOConfig> -->
<Depth> <Depth>
<!--Number <!--Number
of retries for open stream failures, 0 means no retries--> of retries for open stream failures, 0 means no retries-->
@@ -1592,7 +1589,7 @@
<FPS>30</FPS> <FPS>30</FPS>
<Format>Y8</Format> <Format>Y8</Format>
</IR> </IR>
<IR_LEFT> <LeftIR>
<!--The <!--The
resolution width is enabled by default, int type--> resolution width is enabled by default, int type-->
<Width>640</Width> <Width>640</Width>
@@ -1603,8 +1600,8 @@
frame rate of the resolution enabled by default, int type--> frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS> <FPS>30</FPS>
<Format>Y8</Format> <Format>Y8</Format>
</IR_LEFT> </LeftIR>
<IR_RIGHT> <RightIR>
<!--The <!--The
resolution width is enabled by default, int type--> resolution width is enabled by default, int type-->
<Width>640</Width> <Width>640</Width>
@@ -1615,11 +1612,107 @@
frame rate of the resolution enabled by default, int type--> frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS> <FPS>30</FPS>
<Format>Y8</Format> <Format>Y8</Format>
</IR_RIGHT> </RightIR>
</DaBaiA> </DaBaiA>
<!--Gemini345 config-->
<Gemini345>
<!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
will determine the device's speciality. Optional values: V4L2, LibUVC -->
<LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>
<!--DaBaiA <Misc>
config--> <GlobalTimestampFitterEnable>true</GlobalTimestampFitterEnable>
<!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
minimum value: 100, it is recommended not to be greater than 1000 -->
<GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
<!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
<GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
</Misc>
<!--Whether
to enable heartbeat by default-->
<DefaultHeartBeat>0</DefaultHeartBeat>
<!--Whether
to enable firmware upgrade foolproof by default, only internal version supports-->
<FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
<Depth>
<!--Number
of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
<!--Open
flow waits for the timeout period of the first frame of data, after which the open
flow will fail-->
<MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
<!--The
number of data stream restarts due to abnormal interruption, 0 means no restart-->
<StreamInterruptedRestart>0</StreamInterruptedRestart>
<!--The
maximum frame interval time, if this value is exceeded, it will be judged that the
stream is interrupted-->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!--The
resolution width is enabled by default, int type-->
<Width>640</Width>
<!--High
resolution is enabled by default, int type-->
<Height>480</Height>
<!--The
frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS>
<Format>Y16</Format>
</Depth>
<Color>
<!--The
resolution width is enabled by default, int type-->
<Width>1280</Width>
<!--High
resolution is enabled by default, int type-->
<Height>720</Height>
<!--The
frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS>
<Format>MJPG</Format>
</Color>
<IR>
<!--The
resolution width is enabled by default, int type-->
<Width>640</Width>
<!--High
resolution is enabled by default, int type-->
<Height>480</Height>
<!--The
frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS>
<Format>Y8</Format>
</IR>
<LeftIR>
<!--The
resolution width is enabled by default, int type-->
<Width>640</Width>
<!--High
resolution is enabled by default, int type-->
<Height>480</Height>
<!--The
frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS>
<Format>Y8</Format>
</LeftIR>
<RightIR>
<!--The
resolution width is enabled by default, int type-->
<Width>640</Width>
<!--High
resolution is enabled by default, int type-->
<Height>480</Height>
<!--The
frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS>
<Format>Y8</Format>
</RightIR>
</Gemini345>
<!--DaBaiAL config-->
<DaBaiAL> <DaBaiAL>
<!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
will determine the device's speciality. Optional values: V4L2, LibUVC --> will determine the device's speciality. Optional values: V4L2, LibUVC -->
@@ -1641,8 +1734,6 @@
to enable firmware upgrade foolproof by default, only internal version supports--> to enable firmware upgrade foolproof by default, only internal version supports-->
<FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof> <FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
<!-- Depth Filter Params -->
<!-- <DepthFilterDDOConfig>./Gemini2_v1.0.json</DepthFilterDDOConfig> -->
<Depth> <Depth>
<!--Number <!--Number
of retries for open stream failures, 0 means no retries--> of retries for open stream failures, 0 means no retries-->
@@ -1693,7 +1784,7 @@
<FPS>30</FPS> <FPS>30</FPS>
<Format>Y8</Format> <Format>Y8</Format>
</IR> </IR>
<IR_LEFT> <LeftIR>
<!--The <!--The
resolution width is enabled by default, int type--> resolution width is enabled by default, int type-->
<Width>640</Width> <Width>640</Width>
@@ -1704,8 +1795,8 @@
frame rate of the resolution enabled by default, int type--> frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS> <FPS>30</FPS>
<Format>Y8</Format> <Format>Y8</Format>
</IR_LEFT> </LeftIR>
<IR_RIGHT> <RightIR>
<!--The <!--The
resolution width is enabled by default, int type--> resolution width is enabled by default, int type-->
<Width>640</Width> <Width>640</Width>
@@ -1716,8 +1807,105 @@
frame rate of the resolution enabled by default, int type--> frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS> <FPS>30</FPS>
<Format>Y8</Format> <Format>Y8</Format>
</IR_RIGHT> </RightIR>
</DaBaiAL> </DaBaiAL>
<!--Gemini345Lg config-->
<Gemini345Lg>
<!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
will determine the device's speciality. Optional values: V4L2, LibUVC -->
<LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>
<Misc>
<GlobalTimestampFitterEnable>true</GlobalTimestampFitterEnable>
<!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
minimum value: 100, it is recommended not to be greater than 1000 -->
<GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
<!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
<GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
</Misc>
<!--Whether
to enable heartbeat by default-->
<DefaultHeartBeat>0</DefaultHeartBeat>
<!--Whether
to enable firmware upgrade foolproof by default, only internal version supports-->
<FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
<Depth>
<!--Number
of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
<!--Open
flow waits for the timeout period of the first frame of data, after which the open
flow will fail-->
<MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
<!--The
number of data stream restarts due to abnormal interruption, 0 means no restart-->
<StreamInterruptedRestart>0</StreamInterruptedRestart>
<!--The
maximum frame interval time, if this value is exceeded, it will be judged that the
stream is interrupted-->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!--The
resolution width is enabled by default, int type-->
<Width>640</Width>
<!--High
resolution is enabled by default, int type-->
<Height>480</Height>
<!--The
frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS>
<Format>Y16</Format>
</Depth>
<Color>
<!--The
resolution width is enabled by default, int type-->
<Width>1280</Width>
<!--High
resolution is enabled by default, int type-->
<Height>720</Height>
<!--The
frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS>
<Format>MJPG</Format>
</Color>
<IR>
<!--The
resolution width is enabled by default, int type-->
<Width>640</Width>
<!--High
resolution is enabled by default, int type-->
<Height>480</Height>
<!--The
frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS>
<Format>Y8</Format>
</IR>
<LeftIR>
<!--The
resolution width is enabled by default, int type-->
<Width>640</Width>
<!--High
resolution is enabled by default, int type-->
<Height>480</Height>
<!--The
frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS>
<Format>Y8</Format>
</LeftIR>
<RightIR>
<!--The
resolution width is enabled by default, int type-->
<Width>640</Width>
<!--High
resolution is enabled by default, int type-->
<Height>480</Height>
<!--The
frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS>
<Format>Y8</Format>
</RightIR>
</Gemini345Lg>
<!-- Gemini210 config --> <!-- Gemini210 config -->
<Gemini210> <Gemini210>
<!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
orbbec_camera/include/orbbec_camera/constants.h
+1 -1
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@@ -23,7 +23,7 @@
#define OB_ROS_MAJOR_VERSION 2 #define OB_ROS_MAJOR_VERSION 2
#define OB_ROS_MINOR_VERSION 2 #define OB_ROS_MINOR_VERSION 2
#define OB_ROS_PATCH_VERSION 3 #define OB_ROS_PATCH_VERSION 4
#ifndef STRINGIFY #ifndef STRINGIFY
#define STRINGIFY(arg) #arg #define STRINGIFY(arg) #arg
orbbec_camera/package.xml
+1 -1
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@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3"> <package format="3">
<name>orbbec_camera</name> <name>orbbec_camera</name>
<version>2.2.3</version> <version>2.2.4</version>
<description>Orbbec Camera package</description> <description>Orbbec Camera package</description>
<maintainer email="[email protected]">Joe Dong</maintainer> <maintainer email="[email protected]">Joe Dong</maintainer>
<license>Apache-2.0</license> <license>Apache-2.0</license>