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Modify multi device sync config parameter.

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This commit is contained in:
lixiaobin
2023-10-10 09:31:44 +08:00
parent f0a3771602
commit c1d01765a5
6 changed files with 14 additions and 14 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+2 -2
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@@ -401,8 +401,8 @@ class OBCameraNode {
int depth_delay_us_ = 0; int depth_delay_us_ = 0;
int color_delay_us_ = 0; int color_delay_us_ = 0;
int trigger2image_delay_us_ = 0; int trigger2image_delay_us_ = 0;
int trigger_output_delay_us_ = 0; int trigger_out_delay_us_ = 0;
bool trigger_output_enabled_ = false; bool trigger_out_enabled_ = false;
std::string depth_precision_str_; std::string depth_precision_str_;
OB_DEPTH_PRECISION_LEVEL depth_precision_ = OB_PRECISION_0MM8; OB_DEPTH_PRECISION_LEVEL depth_precision_ = OB_PRECISION_0MM8;
// IMU // IMU
orbbec_camera/launch/gemini2.launch.py
+2 -2
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@@ -71,8 +71,8 @@ def generate_launch_description():
DeclareLaunchArgument('depth_delay_us', default_value='0'), DeclareLaunchArgument('depth_delay_us', default_value='0'),
DeclareLaunchArgument('color_delay_us', default_value='0'), DeclareLaunchArgument('color_delay_us', default_value='0'),
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'), DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_output_delay_us', default_value='0'), DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_output_enabled', default_value='false'), DeclareLaunchArgument('trigger_out_enabled', default_value='false'),
] ]
# Node configuration # Node configuration
orbbec_camera/launch/gemini2L.launch.py
+2 -2
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@@ -71,8 +71,8 @@ def generate_launch_description():
DeclareLaunchArgument('depth_delay_us', default_value='0'), DeclareLaunchArgument('depth_delay_us', default_value='0'),
DeclareLaunchArgument('color_delay_us', default_value='0'), DeclareLaunchArgument('color_delay_us', default_value='0'),
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'), DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_output_delay_us', default_value='0'), DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_output_enabled', default_value='false'), DeclareLaunchArgument('trigger_out_enabled', default_value='false'),
] ]
# Node configuration # Node configuration
orbbec_camera/launch/gemini2VL.launch.py
+2 -2
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@@ -69,8 +69,8 @@ def generate_launch_description():
DeclareLaunchArgument('depth_delay_us', default_value='0'), DeclareLaunchArgument('depth_delay_us', default_value='0'),
DeclareLaunchArgument('color_delay_us', default_value='0'), DeclareLaunchArgument('color_delay_us', default_value='0'),
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'), DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_output_delay_us', default_value='0'), DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_output_enabled', default_value='false'), DeclareLaunchArgument('trigger_out_enabled', default_value='false'),
] ]
# Node configuration # Node configuration
orbbec_camera/launch/gemini2XL.launch.py
+2 -2
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@@ -79,8 +79,8 @@ def generate_launch_description():
DeclareLaunchArgument('depth_delay_us', default_value='0'), DeclareLaunchArgument('depth_delay_us', default_value='0'),
DeclareLaunchArgument('color_delay_us', default_value='0'), DeclareLaunchArgument('color_delay_us', default_value='0'),
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'), DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_output_delay_us', default_value='0'), DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_output_enabled', default_value='false'), DeclareLaunchArgument('trigger_out_enabled', default_value='false'),
] ]
# Node configuration # Node configuration
orbbec_camera/src/ob_camera_node.cpp
+4 -4
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@@ -137,8 +137,8 @@ void OBCameraNode::setupDevices() {
sync_config.depthDelayUs = depth_delay_us_; sync_config.depthDelayUs = depth_delay_us_;
sync_config.colorDelayUs = color_delay_us_; sync_config.colorDelayUs = color_delay_us_;
sync_config.trigger2ImageDelayUs = trigger2image_delay_us_; sync_config.trigger2ImageDelayUs = trigger2image_delay_us_;
sync_config.triggerOutDelayUs = trigger_output_delay_us_; sync_config.triggerOutDelayUs = trigger_out_delay_us_;
sync_config.triggerOutEnable = trigger_output_enabled_; sync_config.triggerOutEnable = trigger_out_enabled_;
device_->setMultiDeviceSyncConfig(sync_config); device_->setMultiDeviceSyncConfig(sync_config);
} }
if (info->pid() == GEMINI2_PID) { if (info->pid() == GEMINI2_PID) {
@@ -435,8 +435,8 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter(depth_delay_us_, "depth_delay_us", 0); setAndGetNodeParameter(depth_delay_us_, "depth_delay_us", 0);
setAndGetNodeParameter(color_delay_us_, "color_delay_us", 0); setAndGetNodeParameter(color_delay_us_, "color_delay_us", 0);
setAndGetNodeParameter(trigger2image_delay_us_, "trigger2image_delay_us", 0); setAndGetNodeParameter(trigger2image_delay_us_, "trigger2image_delay_us", 0);
setAndGetNodeParameter(trigger_output_delay_us_, "trigger_output_delay_us", 0); setAndGetNodeParameter(trigger_out_delay_us_, "trigger_out_delay_us", 0);
setAndGetNodeParameter(trigger_output_enabled_, "trigger_output_enabled", false); setAndGetNodeParameter(trigger_out_enabled_, "trigger_out_enabled", false);
setAndGetNodeParameter<std::string>(depth_precision_str_, "depth_precision", "1mm"); setAndGetNodeParameter<std::string>(depth_precision_str_, "depth_precision", "1mm");
std::transform(sync_mode_str_.begin(), sync_mode_str_.end(), sync_mode_str_.begin(), ::toupper); std::transform(sync_mode_str_.begin(), sync_mode_str_.end(), sync_mode_str_.begin(), ::toupper);
sync_mode_ = OBSyncModeFromString(sync_mode_str_); sync_mode_ = OBSyncModeFromString(sync_mode_str_);