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Add enable_accel_data_correction and enable_gyro_data_correction parameters in gemini_330_series.launch.py

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jj
2025-04-23 18:30:46 +08:00
parent 6a7e388221
commit cb2d2abd20
3 changed files with 18 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+2
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@@ -580,6 +580,8 @@ class OBCameraNode {
double angular_vel_cov_ = 0.0001;
std::deque<IMUData> imu_history_;
IMUData accel_data_{ACCEL, {0, 0, 0}, -1.0};
bool enable_accel_data_correction_ = true;
bool enable_gyro_data_correction_ = true;
// mjpeg decoder
std::shared_ptr<JPEGDecoder> jpeg_decoder_ = nullptr;
uint8_t* rgb_buffer_ = nullptr;
orbbec_camera/launch/gemini_330_series.launch.py
+2
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@@ -132,9 +132,11 @@ def generate_launch_description():
DeclareLaunchArgument('ir_brightness', default_value='-1'),
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
DeclareLaunchArgument('enable_accel', default_value='false'),
DeclareLaunchArgument('enable_accel_data_correction', default_value='true'),
DeclareLaunchArgument('accel_rate', default_value='200hz'),
DeclareLaunchArgument('accel_range', default_value='4g'),
DeclareLaunchArgument('enable_gyro', default_value='false'),
DeclareLaunchArgument('enable_gyro_data_correction', default_value='true'),
DeclareLaunchArgument('gyro_rate', default_value='200hz'),
DeclareLaunchArgument('gyro_range', default_value='1000dps'),
DeclareLaunchArgument('liner_accel_cov', default_value='0.01'),
orbbec_camera/src/ob_camera_node.cpp
+14
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@@ -672,6 +672,18 @@ void OBCameraNode::setupDevices() {
RCLCPP_INFO_STREAM(logger_,
"Exporting config json file path : " << export_config_json_file_path_);
}
if (device_->isPropertySupported(OB_PROP_SDK_ACCEL_FRAME_TRANSFORMED_BOOL, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting accel data correction to "
<< (enable_accel_data_correction_ ? "ON" : "OFF"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_SDK_ACCEL_FRAME_TRANSFORMED_BOOL,
enable_accel_data_correction_);
}
if (device_->isPropertySupported(OB_PROP_SDK_GYRO_FRAME_TRANSFORMED_BOOL, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting gyro data correction to "
<< (enable_gyro_data_correction_ ? "ON" : "OFF"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_SDK_GYRO_FRAME_TRANSFORMED_BOOL,
enable_gyro_data_correction_);
}
}
void OBCameraNode::setupColorPostProcessFilter() {
auto color_sensor = device_->getSensor(OB_SENSOR_COLOR);
@@ -1631,6 +1643,8 @@ void OBCameraNode::getParameters() {
"");
setAndGetNodeParameter<std::string>(export_config_json_file_path_, "export_config_json_file_path",
"");
setAndGetNodeParameter<bool>(enable_accel_data_correction_, "enable_accel_data_correction", true);
setAndGetNodeParameter<bool>(enable_gyro_data_correction_, "enable_gyro_data_correction", true);
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info.get());
auto pid = device_info->getPid();