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fix multi camera

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This commit is contained in:
Joe Dong
2022-06-13 18:00:42 +08:00
parent b0563611ba
commit dcc475a719
3 changed files with 27 additions and 33 deletions
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orbbec_camera/params/multi_camera/ob_camera1_params.yaml
+7 -7
View File
@@ -3,20 +3,20 @@
color_width: 640
color_height: 480
color_fps: 30
color_frame_id: "color_frame"
color_optical_frame_id: "color_optical_frame"
color_frame_id: "color_frame1"
color_optical_frame_id: "color_optical_frame1"
enable_color: true
ir_width: 640
ir_height: 480
ir_fps: 30
ir_frame_id: "ir_frame"
ir_optical_frame_id: "ir_optical_frame"
ir_frame_id: "ir_frame1"
ir_optical_frame_id: "ir_optical_frame1"
enable_ir: false
depth_width: 640
depth_height: 480
depth_fps: 25
depth_frame_id: "depth_frame"
depth_optical_frame_id: "depth_optical_frame"
depth_frame_id: "depth_frame1"
depth_optical_frame_id: "depth_optical_frame1"
enable_depth: true
publish_tf: true
tf_publish_rate: 10.0
@@ -24,6 +24,6 @@
wait_for_device_timeout: 120.0
reconnect_timeout: 6.0
d2c_mode: "hw"
serial_number: ""
serial_number: "BY19810004G"
camera_link_frame_id: "camera1_link"
ob_log_level: "none"
orbbec_camera/params/multi_camera/ob_camera2_params.yaml
+7 -7
View File
@@ -3,20 +3,20 @@
color_width: 640
color_height: 480
color_fps: 30
color_frame_id: "color_frame"
color_optical_frame_id: "color_optical_frame"
color_frame_id: "color_frame2"
color_optical_frame_id: "color_optical_frame2"
enable_color: true
ir_width: 640
ir_height: 480
ir_fps: 30
ir_frame_id: "ir_frame"
ir_optical_frame_id: "ir_optical_frame"
ir_frame_id: "ir_frame2"
ir_optical_frame_id: "ir_optical_frame2"
enable_ir: false
depth_width: 640
depth_height: 480
depth_fps: 25
depth_frame_id: "depth_frame"
depth_optical_frame_id: "depth_optical_frame"
depth_frame_id: "depth_frame2"
depth_optical_frame_id: "depth_optical_frame2"
enable_depth: true
publish_tf: true
tf_publish_rate: 10.0
@@ -24,6 +24,6 @@
wait_for_device_timeout: 120.0
reconnect_timeout: 6.0
d2c_mode: "hw"
serial_number: ""
serial_number: "BX2H611003M"
camera_link_frame_id: "camera2_link"
ob_log_level: "none"
orbbec_camera/src/ob_camera_node_factory.cpp
+13 -19
View File
@@ -18,7 +18,6 @@ OBCameraNodeFactory::OBCameraNodeFactory(const rclcpp::NodeOptions &node_options
logger_(this->get_logger()) {
init();
}
OBCameraNodeFactory::OBCameraNodeFactory(const std::string &node_name, const std::string &ns,
const rclcpp::NodeOptions &node_options)
: Node(node_name, ns, node_options),
@@ -33,10 +32,8 @@ OBCameraNodeFactory::~OBCameraNodeFactory() {
query_thread_.join();
}
}
void OBCameraNodeFactory::init() {
ob_log_level_ = declare_parameter<std::string>("ob_log_level", "none");
ctx_->setLoggerSeverity(obLogSeverityFromString(ob_log_level_));
ctx_->setLoggerSeverity(OB_LOG_SEVERITY_NONE);
is_alive_.store(true);
parameters_ = std::make_shared<Parameters>(this);
serial_number_ = declare_parameter<std::string>("serial_number", "");
@@ -126,21 +123,6 @@ void OBCameraNodeFactory::printDeviceInfo(const std::shared_ptr<ob::DeviceInfo>
RCLCPP_INFO_STREAM(logger_, "hardware version " << device_info->hardwareVersion());
}
OBLogSeverity OBCameraNodeFactory::obLogSeverityFromString(const std::string &log_level) {
if (log_level == "debug") {
return OB_LOG_SEVERITY_DEBUG;
} else if (log_level == "info") {
return OB_LOG_SEVERITY_INFO;
} else if (log_level == "warn" || log_level == "warning") {
return OB_LOG_SEVERITY_WARN;
} else if (log_level == "fatal" || log_level == "error") {
return OB_LOG_SEVERITY_FATAL;
} else {
// Default None
return OB_LOG_SEVERITY_NONE;
}
}
void OBCameraNodeFactory::getDevice(const std::shared_ptr<ob::DeviceList> &list) {
if (device_) {
return;
@@ -161,6 +143,18 @@ void OBCameraNodeFactory::getDevice(const std::shared_ptr<ob::DeviceList> &list)
} else {
device_ = list->getDeviceBySN(serial_number_.c_str());
if (device_ == nullptr) {
std::string lower_sn;
std::transform(serial_number_.begin(), serial_number_.end(), std::back_inserter(lower_sn),
[](auto ch) {
return isalpha(ch) ? tolower(ch) : static_cast<int>(ch);
});
device_ = list->getDeviceBySN(lower_sn.c_str());
}
if (device_ == nullptr) {
for (size_t i = 0; i < list->deviceCount(); i++) {
auto sn = list->serialNumber(i);
RCLCPP_ERROR_STREAM(logger_, "found device with SN " << sn);
}
RCLCPP_ERROR_STREAM(logger_, "can not found device with SN " << serial_number_);
} else {
printDeviceInfo(device_->getDeviceInfo());