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Adapted G2R

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This commit is contained in:
Joe Dong
2024-03-15 10:24:38 +08:00
parent e5db48d03a
commit ee0a2f7011
6 changed files with 378 additions and 155 deletions
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orbbec_camera/src/utils.cpp
+79 -2
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@@ -35,7 +35,6 @@ sensor_msgs::msg::CameraInfo convertToCameraInfo(OBCameraIntrinsic intrinsic,
info.d[6] = distortion.k5;
info.d[7] = distortion.k6;
info.k.fill(0.0);
info.k[0] = intrinsic.fx;
info.k[2] = intrinsic.cx;
@@ -235,7 +234,7 @@ orbbec_camera_msgs::msg::Extrinsics obExtrinsicsToMsg(const OBD2CTransform &extr
return msg;
}
rclcpp::Time frameTimeStampToROSTime(uint64_t ms) {
rclcpp::Time fromMsToROSTime(uint64_t ms) {
auto total = static_cast<uint64_t>(ms * 1e6);
uint64_t sec = total / 1000000000;
uint64_t nano_sec = total % 1000000000;
@@ -243,6 +242,14 @@ rclcpp::Time frameTimeStampToROSTime(uint64_t ms) {
return stamp;
}
rclcpp::Time fromUsToROSTime(uint64_t us) {
auto total = static_cast<uint64_t>(us * 1e3);
uint64_t sec = total / 1000000000;
uint64_t nano_sec = total % 1000000000;
rclcpp::Time stamp(sec, nano_sec);
return stamp;
}
std::string getObSDKVersion() {
std::string major = std::to_string(ob::Version::getMajor());
std::string minor = std::to_string(ob::Version::getMinor());
@@ -585,4 +592,74 @@ bool isValidJPEG(const std::shared_ptr<ob::ColorFrame> &frame) {
return true;
}
std::string metaDataTypeToString(const OBFrameMetadataType &meta_data_type) {
switch (meta_data_type) {
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_TIMESTAMP:
return "timestamp";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_SENSOR_TIMESTAMP:
return "sensor_timestamp";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_FRAME_NUMBER:
return "frame_number";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_AUTO_EXPOSURE:
return "auto_exposure";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_EXPOSURE:
return "exposure";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_GAIN:
return "gain";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_AUTO_WHITE_BALANCE:
return "auto_white_balance";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_WHITE_BALANCE:
return "white_balance";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_BRIGHTNESS:
return "brightness";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_CONTRAST:
return "contrast";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_SATURATION:
return "saturation";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_SHARPNESS:
return "sharpness";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_BACKLIGHT_COMPENSATION:
return "backlight_compensation";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_HUE:
return "hue";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_GAMMA:
return "gamma";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_POWER_LINE_FREQUENCY:
return "power_line_frequency";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_LOW_LIGHT_COMPENSATION:
return "low_light_compensation";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_MANUAL_WHITE_BALANCE:
return "manual_white_balance";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_ACTUAL_FRAME_RATE:
return "actual_frame_rate";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_FRAME_RATE:
return "frame_rate";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_AE_ROI_LEFT:
return "ae_roi_left";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_AE_ROI_TOP:
return "ae_roi_top";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_AE_ROI_RIGHT:
return "ae_roi_right";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_AE_ROI_BOTTOM:
return "ae_roi_bottom";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_EXPOSURE_PRIORITY:
return "exposure_priority";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_HDR_SEQUENCE_NAME:
return "hdr_sequence_name";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_HDR_SEQUENCE_SIZE:
return "hdr_sequence_size";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_HDR_SEQUENCE_INDEX:
return "hdr_sequence_index";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_LASER_POWER:
return "laser_power";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_LASER_POWER_MODE:
return "laser_power_mode";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_EMITTER_MODE:
return "emitter_mode";
case OBFrameMetadataType::OB_FRAME_METADATA_TYPE_GPIO_INPUT_DATA:
return "gpio_input_data";
default:
return "unknown";
}
}
} // namespace orbbec_camera