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Merge branch 'feature/Lidar' into merge/sdk_2.6.1

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ob-yalian
2025-12-08 14:21:32 +08:00
parent 856213072f c24af3b2a5
commit d27e5936e3
132 changed files with 9441 additions and 7664 deletions
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orbbec_camera/src/utils.cpp
+55
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@@ -272,6 +272,7 @@ OBFormat OBFormatFromString(const std::string &format) {
std::string fixed_format;
std::transform(format.begin(), format.end(), std::back_inserter(fixed_format),
[](const auto ch) { return std::isalpha(ch) ? toupper(ch) : ch; });
std::cout << "OBFormatFromString: " << fixed_format << std::endl;
if (fixed_format == "MJPG") {
return OB_FORMAT_MJPG;
} else if (fixed_format == "MJPEG") {
@@ -342,6 +343,14 @@ OBFormat OBFormatFromString(const std::string &format) {
return OB_FORMAT_RW16;
} else if (fixed_format == "Y12C4") {
return OB_FORMAT_Y12C4;
} else if (fixed_format == "LIDAR_POINT") {
return OB_FORMAT_LIDAR_POINT;
} else if (fixed_format == "LIDAR_SPHERE_POINT") {
return OB_FORMAT_LIDAR_SPHERE_POINT;
} else if (fixed_format == "LIDAR_SCAN") {
return OB_FORMAT_LIDAR_SCAN;
} else if (fixed_format == "LIDAR_CALIBRATION") {
return OB_FORMAT_LIDAR_CALIBRATION;
}
// else if (fixed_format == "DISP16") {
// return OB_FORMAT_DISP16;
@@ -351,6 +360,25 @@ OBFormat OBFormatFromString(const std::string &format) {
}
}
OBLiDARScanRate OBScanRateFromInt(const int rate) {
std::cout << "OBScanRateFromInt: " << rate << std::endl;
if (rate == 5) {
return OB_LIDAR_SCAN_5HZ;
} else if (rate == 10) {
return OB_LIDAR_SCAN_10HZ;
} else if (rate == 15) {
return OB_LIDAR_SCAN_15HZ;
} else if (rate == 20) {
return OB_LIDAR_SCAN_20HZ;
} else if (rate == 25) {
return OB_LIDAR_SCAN_25HZ;
} else if (rate == 30) {
return OB_LIDAR_SCAN_30HZ;
} else {
return OB_LIDAR_SCAN_UNKNOWN;
}
}
std::string OBFormatToString(const OBFormat &format) {
switch (format) {
case OB_FORMAT_MJPG:
@@ -953,4 +981,31 @@ std::string calcMD5(const std::string &data) {
for (unsigned int i = 0; i < digest_len; ++i) ss << std::setw(2) << (int)digest[i];
return ss.str();
}
double getScanAngleIncrement(OBLiDARScanRate fps) {
switch (fps) {
case OB_LIDAR_SCAN_15HZ:
return deg2rad(0.075);
case OB_LIDAR_SCAN_20HZ:
return deg2rad(0.1);
case OB_LIDAR_SCAN_25HZ:
return deg2rad(0.125);
case OB_LIDAR_SCAN_30HZ:
return deg2rad(0.15);
case OB_LIDAR_SCAN_40HZ:
return deg2rad(0.2);
default:
return deg2rad(0.1);
}
}
double deg2rad(double deg) { return deg * M_PI / 180.0; }
double rad2deg(double rad) {
double angle_degrees = rad * (180.0 / M_PI);
if (angle_degrees < 0) {
angle_degrees += 360.0;
}
return angle_degrees;
}
} // namespace orbbec_camera