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Update the device preset parameters for the 435Le and Gemini2.

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This commit is contained in:
ob-yalian
2026-01-13 17:23:09 +08:00
parent 3d8e975753
commit ccaf32dd3a
4 changed files with 31 additions and 8 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+2
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@@ -481,6 +481,8 @@ class OBCameraNode {
static bool isGemini435LePID(uint32_t pid);
static bool isPublishMetaData(uint32_t pid);
static bool isDepthWorkModeDevices(uint32_t pid);
void setupDepthPostProcessFilter();
void setupColorPostProcessFilter();
void setupRightIrPostProcessFilter();
orbbec_camera/launch/gemini2.launch.py
+1 -1
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@@ -114,7 +114,7 @@ def generate_launch_description():
# Unbinned Sparse Default
# Binned Sparse Default
# Obstacle Avoidance
DeclareLaunchArgument("depth_work_mode", default_value=""),
DeclareLaunchArgument("device_preset", default_value="Unbinned Dense Default"),
DeclareLaunchArgument("sync_mode", default_value="standalone"),
DeclareLaunchArgument("depth_delay_us", default_value="0"),
DeclareLaunchArgument("color_delay_us", default_value="0"),
orbbec_camera/launch/gemini435_le.launch.py
+1 -1
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@@ -233,7 +233,7 @@ def generate_launch_description():
DeclareLaunchArgument('diagnostic_period', default_value='1.0'), # seconds
DeclareLaunchArgument('enable_laser', default_value='true'),
DeclareLaunchArgument('depth_precision', default_value=''),
DeclareLaunchArgument('depth_work_mode', default_value='AMR Perception'),
DeclareLaunchArgument('device_preset', 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'),
orbbec_camera/src/ob_camera_node.cpp
+27 -6
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@@ -438,7 +438,24 @@ void OBCameraNode::setupDevices() {
RCLCPP_INFO_STREAM(logger_, "depthModeList[" << i << "]: " << (*depthModeList)[i].name);
}
TRY_EXECUTE_BLOCK(device_->switchDepthWorkMode(depth_work_mode_.c_str()));
RCLCPP_INFO_STREAM(logger_, "Set depth work mode: " << depth_work_mode_);
RCLCPP_INFO_STREAM(logger_, "Set device preset: " << depth_work_mode_);
} else if (!device_preset_.empty()) {
try {
RCLCPP_INFO_STREAM(logger_, "Available presets:");
auto preset_list = device_->getAvailablePresetList();
for (uint32_t i = 0; i < preset_list->getCount(); i++) {
RCLCPP_INFO_STREAM(logger_, "Preset " << i << ": " << preset_list->getName(i));
}
RCLCPP_INFO_STREAM(logger_, "Load device preset: " << device_preset_);
TRY_EXECUTE_BLOCK(device_->loadPreset(device_preset_.c_str()));
RCLCPP_INFO_STREAM(logger_, "Device preset " << device_->getCurrentPresetName() << " loaded");
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to load device preset: " << e.getMessage());
} catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to load device preset: " << e.what());
} catch (...) {
RCLCPP_ERROR_STREAM(logger_, "Failed to load device preset");
}
}
if (!sync_mode_str_.empty()) {
auto sync_config = device_->getMultiDeviceSyncConfig();
@@ -2033,7 +2050,6 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<bool>(enable_left_ir_sequence_id_filter_,
"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);
@@ -2058,10 +2074,11 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<bool>(ordered_pc_, "ordered_pc", false);
setAndGetNodeParameter<int>(max_save_images_count_, "max_save_images_count", 10);
setAndGetNodeParameter<bool>(enable_depth_scale_, "enable_depth_scale", true);
setAndGetNodeParameter<int>(depth_downscale_, "depth_downscale", 1);
setAndGetNodeParameter<int>(left_ir_downscale_, "left_ir_downscale", 1);
setAndGetNodeParameter<int>(right_ir_downscale_, "right_ir_downscale", 1);
setAndGetNodeParameter<std::string>(device_preset_, "device_preset", "");
if (isDepthWorkModeDevices(device_->getDeviceInfo()->getPid())) {
setAndGetNodeParameter<std::string>(depth_work_mode_, "device_preset", "");
} else {
setAndGetNodeParameter<std::string>(device_preset_, "device_preset", "");
}
setAndGetNodeParameter<bool>(enable_decimation_filter_, "enable_decimation_filter", false);
setAndGetNodeParameter<bool>(enable_hdr_merge_, "enable_hdr_merge", false);
setAndGetNodeParameter<bool>(enable_sequence_id_filter_, "enable_sequence_id_filter", false);
@@ -4220,6 +4237,10 @@ bool OBCameraNode::isPublishMetaData(uint32_t pid) {
return isGemini335PID(pid) || isGemini435LePID(pid) || pid == GEMINI_305_PID;
}
bool OBCameraNode::isDepthWorkModeDevices(uint32_t pid) {
return pid == GEMINI_435Le_PID || pid == GEMINI2_PID;
}
orbbec_camera_msgs::msg::IMUInfo OBCameraNode::createIMUInfo(
const stream_index_pair &stream_index) {
orbbec_camera_msgs::msg::IMUInfo imu_info;