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feat: add preset resolution configuration support

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slz
2025-12-26 14:12:31 +08:00
parent 6da8d9b5e1
commit c9e2ffea45
3 changed files with 47 additions and 9 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1
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@@ -670,6 +670,7 @@ class OBCameraNode {
// Only for Gemini2 device
std::string disparity_to_depth_mode_ = "HW";
std::string depth_work_mode_;
std::string preset_resolution_config_;
OBMultiDeviceSyncMode sync_mode_ = OBMultiDeviceSyncMode::OB_MULTI_DEVICE_SYNC_MODE_FREE_RUN;
std::string sync_mode_str_;
int depth_delay_us_ = 0;
orbbec_camera/launch/gemini435_le.launch.py
+1
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@@ -233,6 +233,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_laser', default_value='true'),
DeclareLaunchArgument('depth_precision', default_value=''),
DeclareLaunchArgument('depth_work_mode', default_value='AMR Perception'),
DeclareLaunchArgument('preset_resolution_config', default_value='1280, 800, 1, 1'),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
orbbec_camera/src/ob_camera_node.cpp
+45 -9
View File
@@ -18,6 +18,7 @@
#include <rclcpp/rclcpp.hpp>
#include <thread>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <sstream>
#include "orbbec_camera/utils.h"
#include <filesystem>
@@ -209,6 +210,40 @@ void OBCameraNode::clean() noexcept {
}
void OBCameraNode::setupDevices() {
if (!preset_resolution_config_.empty()) {
OBPresetResolutionConfig presetResolutionConfig;
std::istringstream iss(preset_resolution_config_);
std::string token;
std::vector<int> values;
values.reserve(4);
while (std::getline(iss, token, ',')) {
values.push_back(std::stoi(token));
}
if (values.size() >= 4) {
presetResolutionConfig.width = values[0];
presetResolutionConfig.height = values[1];
presetResolutionConfig.irDecimationFactor = values[2];
presetResolutionConfig.depthDecimationFactor = values[3];
} else {
RCLCPP_WARN_STREAM(logger_, "preset_resolution_config parse failed ('"
<< preset_resolution_config_
<< "'), use default 640,400,1,1");
}
RCLCPP_INFO_STREAM(logger_, "Setting preset resolution config to "
<< "width: " << presetResolutionConfig.width
<< ", height: " << presetResolutionConfig.height
<< ", ir decimation factor: "
<< presetResolutionConfig.irDecimationFactor
<< ", depth decimation factor: "
<< presetResolutionConfig.depthDecimationFactor);
TRY_EXECUTE_BLOCK(device_->setStructuredData(OB_STRUCT_PRESET_RESOLUTION_CONFIG,
(uint8_t *)&presetResolutionConfig,
sizeof(presetResolutionConfig)));
}
auto sensor_list = device_->getSensorList();
for (size_t i = 0; i < sensor_list->getCount(); i++) {
auto sensor = sensor_list->getSensor(i);
@@ -1853,6 +1888,7 @@ void OBCameraNode::getParameters() {
"enable_left_ir_sequence_id_filter", false);
setAndGetNodeParameter<int>(left_ir_sequence_id_filter_id_, "left_ir_sequence_id_filter_id", -1);
setAndGetNodeParameter<std::string>(depth_work_mode_, "depth_work_mode", "");
setAndGetNodeParameter<std::string>(preset_resolution_config_, "preset_resolution_config", "");
setAndGetNodeParameter<std::string>(sync_mode_str_, "sync_mode", "");
setAndGetNodeParameter<int>(depth_delay_us_, "depth_delay_us", 0);
setAndGetNodeParameter<int>(color_delay_us_, "color_delay_us", 0);
@@ -2170,15 +2206,6 @@ void OBCameraNode::setupPipelineConfig() {
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info.get());
auto pid = device_info->getPid();
if (depth_registration_ && enable_stream_[COLOR] && enable_stream_[DEPTH] &&
!isGemini335PID(pid)) {
OBAlignMode align_mode = align_mode_ == "HW" ? ALIGN_D2C_HW_MODE : ALIGN_D2C_SW_MODE;
RCLCPP_INFO_STREAM(logger_, "set align mode to " << magic_enum::enum_name(align_mode));
calibration_param_ = pipeline_->getCalibrationParam(pipeline_config_);
pipeline_config_->setAlignMode(align_mode);
RCLCPP_INFO_STREAM(logger_, "enable depth scale " << (enable_depth_scale_ ? "ON" : "OFF"));
pipeline_config_->setDepthScaleRequire(enable_depth_scale_);
}
for (const auto &stream_index : IMAGE_STREAMS) {
if (enable_stream_[stream_index]) {
RCLCPP_INFO_STREAM(logger_, "Enable " << stream_name_[stream_index] << " stream");
@@ -2201,6 +2228,15 @@ void OBCameraNode::setupPipelineConfig() {
pipeline_config_->enableStream(stream_profile_[stream_index]);
}
}
if (depth_registration_ && enable_stream_[COLOR] && enable_stream_[DEPTH] &&
!isGemini335PID(pid)) {
OBAlignMode align_mode = align_mode_ == "HW" ? ALIGN_D2C_HW_MODE : ALIGN_D2C_SW_MODE;
RCLCPP_INFO_STREAM(logger_, "set align mode to " << magic_enum::enum_name(align_mode));
TRY_EXECUTE_BLOCK(calibration_param_ = pipeline_->getCalibrationParam(pipeline_config_));
TRY_EXECUTE_BLOCK(pipeline_config_->setAlignMode(align_mode));
RCLCPP_INFO_STREAM(logger_, "enable depth scale " << (enable_depth_scale_ ? "ON" : "OFF"));
TRY_EXECUTE_BLOCK(pipeline_config_->setDepthScaleRequire(enable_depth_scale_));
}
if (enable_stream_[DEPTH] && depth_registration_) {
auto profile = stream_profile_[COLOR]->as<ob::VideoStreamProfile>();
RCLCPP_INFO_STREAM(logger_, "depth_registration is enabled. "