i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-11 06:59:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

add more debug log

Browse Source
This commit is contained in:
Joe Dong
2024-05-15 14:01:07 +08:00
parent 39896ddab3
commit ccbf2761b4
1 changed files with 15 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/src/ob_camera_node.cpp
+15 -5
View File
@@ -164,6 +164,7 @@ void OBCameraNode::setupDevices() {
} }
RCLCPP_INFO_STREAM(logger_, "Load device preset: " << device_preset_); RCLCPP_INFO_STREAM(logger_, "Load device preset: " << device_preset_);
device_->loadPreset(device_preset_.c_str()); device_->loadPreset(device_preset_.c_str());
RCLCPP_INFO_STREAM(logger_, "Device preset " << device_->getCurrentPresetName() << " loaded");
} }
auto depth_sensor = device_->getSensor(OB_SENSOR_DEPTH); auto depth_sensor = device_->getSensor(OB_SENSOR_DEPTH);
// set depth sensor to filter // set depth sensor to filter
@@ -278,10 +279,18 @@ void OBCameraNode::setupDevices() {
} }
} }
if (!depth_work_mode_.empty()) { if (!depth_work_mode_.empty()) {
RCLCPP_INFO_STREAM(logger_, "Set depth work mode: " << depth_work_mode_);
device_->switchDepthWorkMode(depth_work_mode_.c_str()); device_->switchDepthWorkMode(depth_work_mode_.c_str());
} }
if (sync_mode_ != OB_MULTI_DEVICE_SYNC_MODE_STANDALONE) { if (!sync_mode_str_.empty() &&
device_->isPropertySupported(OB_PROP_SYNC_SIGNAL_TRIGGER_OUT_BOOL,
OB_PERMISSION_READ_WRITE)) {
auto sync_config = device_->getMultiDeviceSyncConfig(); auto sync_config = device_->getMultiDeviceSyncConfig();
RCLCPP_INFO_STREAM(logger_,
"Current sync mode: " << magic_enum::enum_name(sync_config.syncMode));
std::transform(sync_mode_str_.begin(), sync_mode_str_.end(), sync_mode_str_.begin(),
::toupper);
sync_mode_ = OBSyncModeFromString(sync_mode_str_);
sync_config.syncMode = sync_mode_; sync_config.syncMode = sync_mode_;
sync_config.depthDelayUs = depth_delay_us_; sync_config.depthDelayUs = depth_delay_us_;
sync_config.colorDelayUs = color_delay_us_; sync_config.colorDelayUs = color_delay_us_;
@@ -289,7 +298,10 @@ void OBCameraNode::setupDevices() {
sync_config.triggerOutDelayUs = trigger_out_delay_us_; sync_config.triggerOutDelayUs = trigger_out_delay_us_;
sync_config.triggerOutEnable = trigger_out_enabled_; sync_config.triggerOutEnable = trigger_out_enabled_;
device_->setMultiDeviceSyncConfig(sync_config); device_->setMultiDeviceSyncConfig(sync_config);
sync_config = device_->getMultiDeviceSyncConfig();
RCLCPP_INFO_STREAM(logger_, "Set sync mode: " << magic_enum::enum_name(sync_config.syncMode));
} }
if (device_->isPropertySupported(OB_PROP_DEPTH_PRECISION_LEVEL_INT, OB_PERMISSION_READ_WRITE) && if (device_->isPropertySupported(OB_PROP_DEPTH_PRECISION_LEVEL_INT, OB_PERMISSION_READ_WRITE) &&
!depth_precision_str_.empty()) { !depth_precision_str_.empty()) {
auto default_precision_level = device_->getIntProperty(OB_PROP_DEPTH_PRECISION_LEVEL_INT); auto default_precision_level = device_->getIntProperty(OB_PROP_DEPTH_PRECISION_LEVEL_INT);
@@ -814,7 +826,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter(enable_ir_auto_exposure_, "enable_ir_auto_exposure", true); setAndGetNodeParameter(enable_ir_auto_exposure_, "enable_ir_auto_exposure", true);
setAndGetNodeParameter(enable_ir_long_exposure_, "enable_ir_long_exposure", true); setAndGetNodeParameter(enable_ir_long_exposure_, "enable_ir_long_exposure", true);
setAndGetNodeParameter<std::string>(depth_work_mode_, "depth_work_mode", ""); setAndGetNodeParameter<std::string>(depth_work_mode_, "depth_work_mode", "");
setAndGetNodeParameter<std::string>(sync_mode_str_, "sync_mode", "standalone"); setAndGetNodeParameter<std::string>(sync_mode_str_, "sync_mode", "");
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);
@@ -822,8 +834,6 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter(trigger_out_enabled_, "trigger_out_enabled", false); setAndGetNodeParameter(trigger_out_enabled_, "trigger_out_enabled", false);
setAndGetNodeParameter<std::string>(depth_precision_str_, "depth_precision", ""); setAndGetNodeParameter<std::string>(depth_precision_str_, "depth_precision", "");
if (!depth_precision_str_.empty()) { if (!depth_precision_str_.empty()) {
std::transform(sync_mode_str_.begin(), sync_mode_str_.end(), sync_mode_str_.begin(), ::toupper);
sync_mode_ = OBSyncModeFromString(sync_mode_str_);
depth_precision_ = depthPrecisionLevelFromString(depth_precision_str_); depth_precision_ = depthPrecisionLevelFromString(depth_precision_str_);
} }
if (enable_colored_point_cloud_) { if (enable_colored_point_cloud_) {
@@ -925,7 +935,6 @@ void OBCameraNode::setupPipelineConfig() {
pipeline_config_.reset(); pipeline_config_.reset();
} }
pipeline_config_ = std::make_shared<ob::Config>(); pipeline_config_ = std::make_shared<ob::Config>();
RCLCPP_INFO_STREAM(logger_, "enable depth scale " << (enable_depth_scale_ ? "ON" : "OFF"));
auto device_info = device_->getDeviceInfo(); auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info.get()); CHECK_NOTNULL(device_info.get());
auto pid = device_info->pid(); auto pid = device_info->pid();
@@ -934,6 +943,7 @@ void OBCameraNode::setupPipelineConfig() {
OBAlignMode align_mode = align_mode_ == "HW" ? ALIGN_D2C_HW_MODE : ALIGN_D2C_SW_MODE; 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)); RCLCPP_INFO_STREAM(logger_, "set align mode to " << magic_enum::enum_name(align_mode));
pipeline_config_->setAlignMode(align_mode); pipeline_config_->setAlignMode(align_mode);
RCLCPP_INFO_STREAM(logger_, "enable depth scale " << (enable_depth_scale_ ? "ON" : "OFF"));
pipeline_config_->setDepthScaleRequire(enable_depth_scale_); pipeline_config_->setDepthScaleRequire(enable_depth_scale_);
} }
for (const auto &stream_index : IMAGE_STREAMS) { for (const auto &stream_index : IMAGE_STREAMS) {