i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-09 22:29:48 +08:00
Code Issues Packages Projects Releases Wiki Activity

refactor: replace isGemini335PID with isGemini330SeriesPID for improved clarity and consistency

Browse Source
This commit is contained in:
ob-yalian
2026-09-14 14:45:17 +08:00
parent ae44449e12
commit c4b6ef71ae
4 changed files with 27 additions and 25 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/include/orbbec_camera/constants.h
+10
View File
@@ -149,6 +149,16 @@ const int32_t GEMINI_338LE_PID = 0x081B; // Gemini 338Le
const int32_t GEMINI_338L_PID = 0x081C; // Gemini 338L
const int32_t GEMINI_331L_PID = 0x081D; // Gemini 331L
inline bool isGemini330SeriesPID(uint32_t pid) {
return pid == GEMINI_335_PID || pid == GEMINI_330_PID || pid == GEMINI_336_PID ||
pid == GEMINI_335L_PID || pid == GEMINI_330L_PID || pid == GEMINI_336L_PID ||
pid == GEMINI_335LG_PID || pid == GEMINI_336LG_PID || pid == GEMINI_335LE_PID ||
pid == GEMINI_336LE_PID || pid == CUSTOM_ADVANTECH_GEMINI_336_PID ||
pid == CUSTOM_ADVANTECH_GEMINI_336L_PID || pid == GEMINI_338_PID ||
pid == GEMINI_338LG_PID || pid == GEMINI_338LE_PID || pid == GEMINI_338L_PID ||
pid == GEMINI_331L_PID;
}
inline bool isGemini305SeriesPID(uint32_t pid) {
return pid == GEMINI_305_PID || pid == GEMINI_305_PID2 || pid == GEMINI_305G_PID ||
pid == GEMINI_309G_PID;
orbbec_camera/include/orbbec_camera/ob_camera_node.h
-2
View File
@@ -666,8 +666,6 @@ class OBCameraNode {
orbbec_camera_msgs::msg::IMUInfo createIMUInfo(const stream_index_pair& stream_index);
static bool isGemini335PID(uint32_t pid);
static bool isGemini435LePID(uint32_t pid);
static bool isPublishMetaData(uint32_t pid);
static bool isDabaiASeriesForHwD2C(uint32_t pid);
orbbec_camera/src/ob_camera_node.cpp
+16 -13
View File
@@ -650,7 +650,9 @@ void OBCameraNode::publishDepthFiltersStatus() {
if (disp_outliers_filter_supported) {
append_unique_filter_name("DispOutliersFilter");
}
append_unique_filter_name("EnhancedDepthFilter");
if (isGemini330SeriesPID(pid_)) {
append_unique_filter_name("EnhancedDepthFilter");
}
msg.filters.reserve(ordered_filter_names.size());
for (const auto &filter_name : ordered_filter_names) {
@@ -3220,7 +3222,7 @@ void OBCameraNode::setupLeftIrPostProcessFilter() {
}
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info);
if (isGemini335PID(pid_)) {
if (isGemini330SeriesPID(pid_)) {
auto left_ir_sensor = device_->getSensor(OB_SENSOR_IR_LEFT);
left_ir_filter_list_ = left_ir_sensor->createRecommendedFilters();
if (left_ir_filter_list_.empty()) {
@@ -3261,7 +3263,7 @@ void OBCameraNode::setupRightIrPostProcessFilter() {
}
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info);
if (isGemini335PID(pid_)) {
if (isGemini330SeriesPID(pid_)) {
auto right_ir_sensor = device_->getSensor(OB_SENSOR_IR_RIGHT);
right_ir_filter_list_ = right_ir_sensor->createRecommendedFilters();
if (right_ir_filter_list_.empty()) {
@@ -5274,6 +5276,11 @@ bool OBCameraNode::validateEnhancedDepthFilterConfig(std::string &message) const
constexpr char kEnhancedDepthSupportedTargetResolutions[] = "640x480/1280x720/1280x800";
constexpr char kEnhancedDepthSupportedDepthFormats[] = "Y10/Y11/Y12/Y14/Y16/Z16";
if (!isGemini330SeriesPID(pid_)) {
message = "Enhanced depth filter is only supported by Gemini 330 series devices";
return false;
}
if (!enable_stream_.count(COLOR) || !enable_stream_.at(COLOR) || !enable_stream_.count(DEPTH) ||
!enable_stream_.at(DEPTH)) {
message = "Enhanced depth filter requires color and depth streams";
@@ -7917,18 +7924,9 @@ bool OBCameraNode::setupFormatConvertType(OBFormat format, ob::FormatConvertFilt
return true;
}
bool OBCameraNode::isGemini335PID(uint32_t pid) {
return pid == GEMINI_335_PID || pid == GEMINI_330_PID || pid == GEMINI_336_PID ||
pid == GEMINI_335L_PID || pid == GEMINI_330L_PID || pid == GEMINI_336L_PID ||
pid == GEMINI_335LG_PID || pid == GEMINI_336LG_PID || pid == GEMINI_335LE_PID ||
pid == GEMINI_336LE_PID || pid == CUSTOM_ADVANTECH_GEMINI_336_PID ||
pid == CUSTOM_ADVANTECH_GEMINI_336L_PID || pid == GEMINI_338_PID ||
pid == GEMINI_338L_PID || pid == GEMINI_338LE_PID || pid == GEMINI_338LG_PID;
}
bool OBCameraNode::isGemini435LePID(uint32_t pid) { return pid == GEMINI_435Le_PID; }
bool OBCameraNode::isPublishMetaData(uint32_t pid) {
return isGemini335PID(pid) || isGemini435LePID(pid) || isGemini305SeriesPID(pid);
return isGemini330SeriesPID(pid) || isGemini435LePID(pid) || isGemini305SeriesPID(pid);
}
bool OBCameraNode::isDabaiASeriesForHwD2C(uint32_t pid) {
@@ -8265,6 +8263,11 @@ bool OBCameraNode::applyEnhancedDepthFilterConfig(
bool enabled, const std::vector<float> &positional_params,
const std::vector<orbbec_camera_msgs::msg::DepthFilterParam> &named_params,
std::string &message) {
if (!isGemini330SeriesPID(pid_)) {
message = "Enhanced depth filter is only supported by Gemini 330 series devices";
return false;
}
if (positional_params.size() > 1) {
message = "EnhancedDepthFilter only supports one positional parameter";
return false;
orbbec_camera/tools/multi_save_rgbir.cpp
+1 -10
View File
@@ -46,7 +46,7 @@ class MultiCameraSubscriber : public rclcpp::Node {
std::string uid = device_info->uid();
auto usb_port = parseUsbPort(uid);
serial_numbers_[usb_port] = serial;
is_gemini330_ = isGemini335PID(pid);
is_gemini330_ = isGemini330SeriesPID(pid);
}
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(get_logger(), orbbec_camera::formatObErrorWithStatus(e));
@@ -76,15 +76,6 @@ class MultiCameraSubscriber : public rclcpp::Node {
private:
std::mutex image_mutex_;
std::mutex meta_mutex_;
bool isGemini335PID(uint32_t pid) {
return pid == GEMINI_335_PID || pid == GEMINI_330_PID || pid == GEMINI_336_PID ||
pid == GEMINI_335L_PID || pid == GEMINI_330L_PID || pid == GEMINI_336L_PID ||
pid == GEMINI_335LG_PID || pid == GEMINI_336LG_PID || pid == GEMINI_335LE_PID ||
pid == GEMINI_336LE_PID || pid == CUSTOM_ADVANTECH_GEMINI_336_PID ||
pid == CUSTOM_ADVANTECH_GEMINI_336L_PID || pid == GEMINI_338_PID ||
pid == GEMINI_338LG_PID || pid == GEMINI_338LE_PID || pid == GEMINI_338L_PID ||
pid == GEMINI_331L_PID;
}
void params_init() {
std::ifstream file(
"install/orbbec_camera/share/orbbec_camera/config/tools/multisavergbir/"