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Add net_camera examples
This commit is contained in:
jj
@@ -1,27 +1,31 @@
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# lower_cpu_usage
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# [benchmark](./benchmark)
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How to reduce CPU usage of one or more cameras in OrbbecSDK_ROS2.
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The goal of this tool is to benchmark the performance of various OrbbecSDK_ROS2 camera configurations. The benchmark results depend on the camera and settings used.(Currently only works with ROS2 Humble).
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# multi_camera_synced
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# [disparity_search_offset](./disparity_search_offset)
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How to use multi-camera synced in OrbbecSDK_ROS2.
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# interleave_ae_mode
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How to use interleave_ae in OrbbecSDK_ROS2.
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# disparity_search_offset
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How to use disparity_search_offset in OrbbecSDK_ROS2.
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How to use disparity_search_offset in OrbbecSDK_ROS2.
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# gmsl_camera
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# [gmsl_camera](./gmsl_camera)
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How to use gmsl_camera in OrbbecSDK_ROS2.
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How to use gmsl_camera in OrbbecSDK_ROS2.Show how to start Single GMSL camera ,Multi GMSL camera , and Multi GMSL camera synced.
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# multi_camera_synced_verification_tool
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# [interleave_ae_mode](./interleave_ae_mode)
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How to verify the synchronization accuracy of multi-camera synced.
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How to use interleave_ae in OrbbecSDK_ROS2.Show how to use interleave_ae in Gemini 330 series cameras.
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# benchmark
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# [lower_cpu_usage](./lower_cpu_usage)
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The goal of this tool is to benchmark the performance of various OrbbecSDK_ROS2 camera configurations. The benchmark results depend on the camera and settings used.(Currently only works with ROS2 Humble).
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How to reduce CPU usage of one or more cameras in OrbbecSDK_ROS2.
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# [multi_camera_synced](./multi_camera_synced)
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How to use multi-camera synced in OrbbecSDK_ROS2.
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# [multi_camera_synced_verification_tool](./multi_camera_synced_verification_tool)
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How to verify the synchronization accuracy of multi-camera synced.Show how to use the save_rgbir tool and Python script to analyze the synchronization between cameras and between different cameras.
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# [net_camera](./net_camera)
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How to use net_camera in OrbbecSDK_ROS2.Show how to start Single Net camera ,Multi Net camera.
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@@ -12,15 +12,13 @@ The definition of disparity search range: For any pixel *(u_l, v)* in the left i
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The disparity_search_offset related parameters are set in [gemini_330_series.launch.py](../../launch/gemini_330_series.launch.py)
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The disparity_search_offset related parameters are set in [gemini_330_series.launch.py](../../launch/gemini_330_series.launch.py)
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disparity_range_mode : Disparity search length,can only be set to 64, 128 and 256.
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* `disparity_range_mode` : Disparity search length,can only be set to 64, 128 and 256.
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* `disparity_search_offset` : Disparity search offset value,Disparity search offset value, can be set from 0 to 127.
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disparity_search_offset : Disparity search offset value,Disparity search offset value, can be set from 0 to 127.
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* `disparity_offset_config` : Disparity search offset interleave frames.
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* `offset_index0` : Frame 0 disparity search offset value.
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disparity_offset_config : Disparity search offset interleave frames.
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* `offset_index1` : Frame 1 disparity search offset value.
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offset_index0 : Frame 0 disparity search offset value.
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offset_index1 : Frame 1 disparity search offset value.
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| disparity range mode | disparity search offset | Minimum depth of inclined wall (mm) |
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| disparity range mode | disparity search offset | Minimum depth of inclined wall (mm) |
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| :------------------: | :---------------------: | :---------------------------------: |
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| :------------------: | :---------------------: | :---------------------------------: |
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@@ -34,9 +34,8 @@ In addition, GMSL multi-camera synced does not require Multi-Camera Sync Hub Pro
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### Additional Parameter Settings
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### Additional Parameter Settings
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gmsl_trigger_fps : set hardware soc trigger source frame rate.
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* `gmsl_trigger_fps` : set hardware soc trigger source frame rate.
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* `enable_gmsl_trigger` : enable hardware soc trigger.
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enable_gmsl_trigger : enable hardware soc trigger.
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### Run the launch
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### Run the launch
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@@ -1,6 +1,6 @@
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# Using interleave_ae with Gemini330 series cameras
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# Using interleave_ae with Gemini330 series cameras
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> This section describes how to use interleave_ae in Gemini330 series cameras (minimum camera firmware version [1.4.00](https://www.orbbec.com/docs/g330-firmware-release/))
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> This section describes how to use interleave_ae in Gemini 330 series cameras (minimum camera firmware version [1.4.00](https://www.orbbec.com/docs/g330-firmware-release/))
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## Parameter Introduction
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## Parameter Introduction
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@@ -27,7 +27,7 @@ Open multi_camera_synced.launch.py, and configure the camera settings as shown b
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4. Set `device_num` to `2`, meaning two cameras will be used.
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4. Set `device_num` to `2`, meaning two cameras will be used.
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5. Set `sync_mode` to `primary` to indicate that the `2-7` camera device is in primary mode. The multi-camera sync mode options can be found in the figure below.
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5. Set `sync_mode` to `primary` to indicate that the `2-7` camera device is in primary mode. The multi-camera sync mode options can be found in the figure below.
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6. Parameters from the `config_file_path` can override the parameters set in `gemini_330_series.launch.py` (optional).
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6. Parameters from the `config_file_path` can override the parameters set in `gemini_330_series.launch.py` (optional).
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7. For slave cameras, set trigger_out_enabled to false.
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7. For slave cameras, set `trigger_out_enabled` to false.
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| **Pattern Nam**e | **Setting effect description** |
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| **Pattern Nam**e | **Setting effect description** |
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| ---------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| ---------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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@@ -0,0 +1,39 @@
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# Net_camera
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> This section describes how to use Net camera in OrbbecSDK_ROS2.Currently, only Femto_Mega devices are supported, and other Net devices will be supported in the near future.
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## Parameter Introduction
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Network device settings: default `enumerate_net_device` is set to true, which will automatically enumerate network devices.
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If you do not want to automatically enumerate network devices,you can set `enumerate_net_device` to false, `net_device_ip` to the device's IP address, and `net_device_port` to the default value of 8090.
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* `enumerate_net_device` : Enable automatically enumerate network devices.
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* `net_device_ip` : Setting net device's IP address.
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* `net_device_port` : Setting net device's port.Usually, you can set it to 8090.
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## Single Net camera
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For [femto_mega.launch.py](../../launch/femto_mega.launch.py) as an example:
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### automatically enumerate network devices:
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```bash
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ros2 launch orbbec_camera femto_mega.launch.py enumerate_net_device:=true
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```
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### Specify IP address to start the device:
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Note: `net_device_ip` needs to be changed to the IP address of the device, here it is 192.168.1.10
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```bash
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ros2 launch orbbec_camera femto_mega.launch.py enumerate_net_device:=false net_device_ip:=192.168.1.10 net_device_port:=8090
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```
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## Multi Net camera
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For [multi_net_camera.launch.py](./multi_net_camera.launch.py) as an example:
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```bash
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ros2 launch orbbec_camera multi_net_camera.launch.py
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```
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@@ -0,0 +1,52 @@
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from launch import LaunchDescription
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from launch.actions import (
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DeclareLaunchArgument,
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IncludeLaunchDescription,
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GroupAction,
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ExecuteProcess,
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)
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.actions import Node
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from ament_index_python.packages import get_package_share_directory
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import os
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def generate_launch_description():
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# Include launch files
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package_dir = get_package_share_directory("orbbec_camera")
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launch_file_dir = os.path.join(package_dir, "launch")
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launch1_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, "femto_mega.launch.py")
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),
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launch_arguments={
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"camera_name": "camera_01",
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"net_device_ip": "192.168.2.10",
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"net_device_port": "8090",
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"sync_mode": "standalone",
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}.items(),
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)
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launch2_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, "femto_mega.launch.py")
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),
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launch_arguments={
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"camera_name": "camera_02",
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"net_device_ip": "192.168.1.11",
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"net_device_port": "8090",
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"sync_mode": "standalone",
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}.items(),
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)
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# If you need more cameras, just add more launch_include here, and change the usb_port and device_num
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# Launch description
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ld = LaunchDescription(
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[
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GroupAction([launch1_include]),
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GroupAction([launch2_include]),
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]
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)
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return ld
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@@ -12,93 +12,93 @@ import os
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def generate_launch_description():
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def generate_launch_description():
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# Declare arguments
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# Declare arguments
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args = [
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args = [
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DeclareLaunchArgument('camera_name', default_value='camera'),
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DeclareLaunchArgument("camera_name", default_value="camera"),
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DeclareLaunchArgument('depth_registration', default_value='false'),
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DeclareLaunchArgument("depth_registration", default_value="false"),
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DeclareLaunchArgument('serial_number', default_value=''),
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DeclareLaunchArgument("serial_number", default_value=""),
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DeclareLaunchArgument('usb_port', default_value=''),
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DeclareLaunchArgument("usb_port", default_value=""),
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DeclareLaunchArgument('device_num', default_value='1'),
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DeclareLaunchArgument("device_num", default_value="1"),
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DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
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DeclareLaunchArgument("uvc_backend", default_value="libuvc"), # libuvc or v4l2
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DeclareLaunchArgument('product_id', default_value=''),
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DeclareLaunchArgument("product_id", default_value=""),
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DeclareLaunchArgument('enable_point_cloud', default_value='true'),
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DeclareLaunchArgument("enable_point_cloud", default_value="true"),
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DeclareLaunchArgument('cloud_frame_id', default_value=''),
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DeclareLaunchArgument("cloud_frame_id", default_value=""),
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DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
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DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
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DeclareLaunchArgument('point_cloud_qos', default_value='default'),
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DeclareLaunchArgument("point_cloud_qos", default_value="default"),
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DeclareLaunchArgument('connection_delay', default_value='100'),
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DeclareLaunchArgument("connection_delay", default_value="100"),
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DeclareLaunchArgument('color_width', default_value='1280'),
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DeclareLaunchArgument("color_width", default_value="1280"),
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DeclareLaunchArgument('color_height', default_value='720'),
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DeclareLaunchArgument("color_height", default_value="720"),
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DeclareLaunchArgument('color_fps', default_value='30'),
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DeclareLaunchArgument("color_fps", default_value="30"),
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DeclareLaunchArgument('color_format', default_value='MJPG'),
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DeclareLaunchArgument("color_format", default_value="MJPG"),
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DeclareLaunchArgument('enable_color', default_value='true'),
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DeclareLaunchArgument("enable_color", default_value="true"),
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DeclareLaunchArgument('flip_color', default_value='false'),
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DeclareLaunchArgument("flip_color", default_value="false"),
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DeclareLaunchArgument('color_qos', default_value='default'),
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DeclareLaunchArgument("color_qos", default_value="default"),
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DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
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DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
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DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
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DeclareLaunchArgument("enable_color_auto_exposure", default_value="true"),
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DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
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DeclareLaunchArgument("color_ae_max_exposure", default_value="-1"),
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DeclareLaunchArgument('color_exposure', default_value='-1'),
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DeclareLaunchArgument("color_exposure", default_value="-1"),
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DeclareLaunchArgument('color_gain', default_value='-1'),
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DeclareLaunchArgument("color_gain", default_value="-1"),
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DeclareLaunchArgument('color_brightness', default_value='-1'),
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DeclareLaunchArgument("color_brightness", default_value="-1"),
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DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
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DeclareLaunchArgument("enable_color_auto_white_balance", default_value="true"),
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DeclareLaunchArgument('color_white_balance', default_value='-1'),
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DeclareLaunchArgument("color_white_balance", default_value="-1"),
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DeclareLaunchArgument('depth_width', default_value='640'),
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DeclareLaunchArgument("depth_width", default_value="640"),
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DeclareLaunchArgument('depth_height', default_value='576'),
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DeclareLaunchArgument("depth_height", default_value="576"),
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DeclareLaunchArgument('depth_fps', default_value='30'),
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DeclareLaunchArgument("depth_fps", default_value="30"),
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DeclareLaunchArgument('depth_format', default_value='Y16'),
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DeclareLaunchArgument("depth_format", default_value="Y16"),
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DeclareLaunchArgument('enable_depth', default_value='true'),
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DeclareLaunchArgument("enable_depth", default_value="true"),
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DeclareLaunchArgument('flip_depth', default_value='false'),
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DeclareLaunchArgument("flip_depth", default_value="false"),
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DeclareLaunchArgument('depth_qos', default_value='default'),
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DeclareLaunchArgument("depth_qos", default_value="default"),
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DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
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DeclareLaunchArgument("depth_camera_info_qos", default_value="default"),
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DeclareLaunchArgument('ir_width', default_value='640'),
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DeclareLaunchArgument("ir_width", default_value="640"),
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DeclareLaunchArgument('ir_height', default_value='576'),
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DeclareLaunchArgument("ir_height", default_value="576"),
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DeclareLaunchArgument('ir_fps', default_value='30'),
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DeclareLaunchArgument("ir_fps", default_value="30"),
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DeclareLaunchArgument('ir_format', default_value='Y16'),
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DeclareLaunchArgument("ir_format", default_value="Y16"),
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DeclareLaunchArgument('enable_ir', default_value='true'),
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DeclareLaunchArgument("enable_ir", default_value="true"),
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DeclareLaunchArgument('flip_ir', default_value='false'),
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DeclareLaunchArgument("flip_ir", default_value="false"),
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DeclareLaunchArgument('ir_qos', default_value='default'),
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DeclareLaunchArgument("ir_qos", default_value="default"),
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DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
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DeclareLaunchArgument("ir_camera_info_qos", default_value="default"),
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DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
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DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
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DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
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DeclareLaunchArgument("ir_ae_max_exposure", default_value="-1"),
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DeclareLaunchArgument('ir_exposure', default_value='-1'),
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DeclareLaunchArgument("ir_exposure", default_value="-1"),
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DeclareLaunchArgument('ir_gain', default_value='-1'),
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DeclareLaunchArgument("ir_gain", default_value="-1"),
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DeclareLaunchArgument('ir_brightness', default_value='-1'),
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DeclareLaunchArgument("ir_brightness", default_value="-1"),
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DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='true'),
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DeclareLaunchArgument("enable_sync_output_accel_gyro", default_value="true"),
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DeclareLaunchArgument('enable_accel', default_value='false'),
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DeclareLaunchArgument("enable_accel", default_value="false"),
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DeclareLaunchArgument('accel_rate', default_value='100hz'),
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DeclareLaunchArgument("accel_rate", default_value="100hz"),
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DeclareLaunchArgument('accel_range', default_value='4g'),
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DeclareLaunchArgument("accel_range", default_value="4g"),
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DeclareLaunchArgument('enable_gyro', default_value='false'),
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DeclareLaunchArgument("enable_gyro", default_value="false"),
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DeclareLaunchArgument('gyro_rate', default_value='100hz'),
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DeclareLaunchArgument("gyro_rate", default_value="100hz"),
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DeclareLaunchArgument('gyro_range', default_value='1000dps'),
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DeclareLaunchArgument("gyro_range", default_value="1000dps"),
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DeclareLaunchArgument('liner_accel_cov', default_value='0.01'),
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DeclareLaunchArgument("liner_accel_cov", default_value="0.01"),
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DeclareLaunchArgument('angular_vel_cov', default_value='0.01'),
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DeclareLaunchArgument("angular_vel_cov", default_value="0.01"),
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DeclareLaunchArgument('publish_tf', default_value='true'),
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DeclareLaunchArgument("publish_tf", default_value="true"),
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DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
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DeclareLaunchArgument("tf_publish_rate", default_value="0.0"),
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DeclareLaunchArgument('ir_info_url', default_value=''),
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DeclareLaunchArgument("ir_info_url", default_value=""),
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DeclareLaunchArgument('color_info_url', default_value=''),
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DeclareLaunchArgument("color_info_url", default_value=""),
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# Network device settings: default net_device_ip is 192.168.1.10 and net_device_port is 8090
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# Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices
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# If you don't want to use ip addr and port, set enumerate_net_device to true
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# If you do not want to automatically enumerate network devices,
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# and leave net_device_ip blank , it can enumerate automate
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# you can set enumerate_net_device to false, net_device_ip to the device's IP address, and net_device_port to the default value of 8090
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DeclareLaunchArgument('enumerate_net_device', default_value='false'),
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DeclareLaunchArgument("enumerate_net_device", default_value="false"),
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DeclareLaunchArgument('net_device_ip', default_value=''),
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DeclareLaunchArgument("net_device_ip", default_value=""),
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DeclareLaunchArgument('net_device_port', default_value='0'),
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DeclareLaunchArgument("net_device_port", default_value="0"),
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument("log_level", default_value="none"),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
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DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
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DeclareLaunchArgument('enable_lrm', default_value='true'),
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DeclareLaunchArgument("enable_lrm", default_value="true"),
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DeclareLaunchArgument('enable_soft_filter', default_value='true'),
|
DeclareLaunchArgument("enable_soft_filter", default_value="true"),
|
||||||
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
|
DeclareLaunchArgument("soft_filter_max_diff", default_value="-1"),
|
||||||
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
|
DeclareLaunchArgument("soft_filter_speckle_size", default_value="-1"),
|
||||||
DeclareLaunchArgument('sync_mode', default_value='standalone'),
|
DeclareLaunchArgument("sync_mode", default_value="standalone"),
|
||||||
DeclareLaunchArgument('depth_delay_us', default_value='0'),
|
DeclareLaunchArgument("depth_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('color_delay_us', default_value='0'),
|
DeclareLaunchArgument("color_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
|
DeclareLaunchArgument("trigger2image_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
|
DeclareLaunchArgument("trigger_out_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('trigger_out_enabled', default_value='false'),
|
DeclareLaunchArgument("trigger_out_enabled", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
|
DeclareLaunchArgument("enable_frame_sync", default_value="true"),
|
||||||
DeclareLaunchArgument('ordered_pc', default_value='false'),
|
DeclareLaunchArgument("ordered_pc", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
|
DeclareLaunchArgument("enable_depth_scale", default_value="true"),
|
||||||
DeclareLaunchArgument('align_mode', default_value='HW'),
|
DeclareLaunchArgument("align_mode", default_value="HW"),
|
||||||
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
|
DeclareLaunchArgument("laser_energy_level", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
|
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
|
||||||
DeclareLaunchArgument('time_domain', default_value='global'),
|
DeclareLaunchArgument("time_domain", default_value="global"),
|
||||||
]
|
]
|
||||||
|
|
||||||
# Node configuration
|
# Node configuration
|
||||||
@@ -149,4 +149,4 @@ def generate_launch_description():
|
|||||||
)
|
)
|
||||||
]
|
]
|
||||||
)
|
)
|
||||||
return ld
|
return ld
|
||||||
|
|||||||
Reference in New Issue
Block a user