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feat: add utility functions for string conversion of camera settings

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This commit is contained in:
slz
2026-04-15 16:17:31 +08:00
parent 7ee6e0033c
commit f0603b8b38
4 changed files with 101 additions and 12 deletions
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orbbec_camera/include/orbbec_camera/utils.h
+10
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@@ -182,8 +182,18 @@ OB_DEPTH_PRECISION_LEVEL depthPrecisionLevelFromString(
float depthPrecisionFromString(const std::string& depth_precision_level_str);
std::string colorPowerLineFrequencyToString(int value);
std::string depthPrecisionLevelToString(int value);
OBMultiDeviceSyncMode OBSyncModeFromString(const std::string& mode);
std::string disparityRangeModeToString(int value);
std::string exposureRangeModeToString(int value);
std::string intraCameraSyncReferenceToString(int value);
OB_SAMPLE_RATE sampleRateFromString(std::string& sample_rate);
std::string sampleRateToString(const OB_SAMPLE_RATE& sample_rate);
orbbec_camera/launch/gemini2L.launch.py
-1
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@@ -119,7 +119,6 @@ def generate_launch_description():
DeclareLaunchArgument("laser_energy_level", default_value="-1"),
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
DeclareLaunchArgument("enable_firmware_log", default_value="false"),
DeclareLaunchArgument("enable_noise_removal_filter", default_value="false"),
DeclareLaunchArgument("time_domain", default_value="global"),
]
orbbec_camera/src/ob_camera_node.cpp
+22 -11
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@@ -665,8 +665,8 @@ void OBCameraNode::setupDevices() {
for (const auto &[stream_index, enable] : enable_stream_) {
if (enable && sensors_.find(stream_index) == sensors_.end()) {
RCLCPP_WARN_STREAM(logger_, magic_enum::enum_name(stream_index.first)
<< " sensor not supported by current device, skipping");
RCLCPP_DEBUG_STREAM(logger_, magic_enum::enum_name(stream_index.first)
<< " sensor not supported by current device, skipping");
enable_stream_[stream_index] = false;
}
}
@@ -817,8 +817,10 @@ void OBCameraNode::setupDevices() {
auto default_precision_level = device_->getIntProperty(OB_PROP_DEPTH_PRECISION_LEVEL_INT);
if (default_precision_level != depth_precision_) {
device_->setIntProperty(OB_PROP_DEPTH_PRECISION_LEVEL_INT, depth_precision_);
RCLCPP_INFO_STREAM(logger_, "Current depth precision: " << device_->getIntProperty(
OB_PROP_DEPTH_PRECISION_LEVEL_INT));
const auto current_depth_precision =
device_->getIntProperty(OB_PROP_DEPTH_PRECISION_LEVEL_INT);
RCLCPP_INFO_STREAM(logger_, "Current depth precision: "
<< depthPrecisionLevelToString(current_depth_precision));
}
} else if (device_->isPropertySupported(OB_PROP_DEPTH_UNIT_FLEXIBLE_ADJUSTMENT_FLOAT,
OB_PERMISSION_READ_WRITE) &&
@@ -1126,8 +1128,10 @@ void OBCameraNode::setupDevices() {
} else if (color_powerline_freq_ == "auto") {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT, 3);
}
RCLCPP_INFO_STREAM(logger_, "Current color powerline freq: " << device_->getIntProperty(
OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT));
const auto current_color_powerline_freq =
device_->getIntProperty(OB_PROP_COLOR_POWER_LINE_FREQUENCY_INT);
RCLCPP_INFO_STREAM(logger_, "Current color powerline freq: " << colorPowerLineFrequencyToString(
current_color_powerline_freq));
}
if (depth_exposure_ != -1 &&
device_->isPropertySupported(OB_PROP_DEPTH_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
@@ -1296,8 +1300,10 @@ void OBCameraNode::setupDevices() {
} else {
RCLCPP_ERROR(logger_, "disparity range mode does not support this setting");
}
const auto current_disparity_range_mode =
device_->getIntProperty(OB_PROP_DISP_SEARCH_RANGE_MODE_INT);
RCLCPP_INFO_STREAM(logger_, "Current disparity range mode: "
<< device_->getIntProperty(OB_PROP_DISP_SEARCH_RANGE_MODE_INT));
<< disparityRangeModeToString(current_disparity_range_mode));
}
if (device_->isPropertySupported(OB_PROP_HW_NOISE_REMOVE_FILTER_ENABLE_BOOL,
OB_PERMISSION_READ_WRITE)) {
@@ -1329,8 +1335,10 @@ void OBCameraNode::setupDevices() {
} else {
RCLCPP_ERROR(logger_, "exposure range mode does not support this setting");
}
RCLCPP_INFO_STREAM(logger_, "Current exposure range mode: " << device_->getIntProperty(
OB_PROP_DEVICE_PERFORMANCE_MODE_INT));
const auto current_exposure_range_mode =
device_->getIntProperty(OB_PROP_DEVICE_PERFORMANCE_MODE_INT);
RCLCPP_INFO_STREAM(logger_, "Current exposure range mode: "
<< exposureRangeModeToString(current_exposure_range_mode));
}
if (!load_config_json_file_path_.empty()) {
device_->loadPresetFromJsonFile(load_config_json_file_path_.c_str());
@@ -1370,8 +1378,11 @@ void OBCameraNode::setupDevices() {
} else {
RCLCPP_ERROR(logger_, "intra camera sync reference does not support this setting");
}
RCLCPP_INFO_STREAM(logger_, "Current intra camera sync reference: " << device_->getIntProperty(
OB_PROP_INTRA_CAMERA_SYNC_REFERENCE_INT));
const auto current_intra_camera_sync_reference =
device_->getIntProperty(OB_PROP_INTRA_CAMERA_SYNC_REFERENCE_INT);
RCLCPP_INFO_STREAM(
logger_, "Current intra camera sync reference: "
<< intraCameraSyncReferenceToString(current_intra_camera_sync_reference));
}
if (device_->isPropertySupported(OB_PROP_DEVICE_AE_STRATEGY_INT, OB_PERMISSION_WRITE)) {
device_->setIntProperty(OB_PROP_DEVICE_AE_STRATEGY_INT, (ae_strategy_ == "motion" ? 0 : 1));
orbbec_camera/src/utils.cpp
+69
View File
@@ -540,6 +540,38 @@ float depthPrecisionFromString(const std::string &depth_precision_level_str) {
return std::stof(depth_precision_level_str_num);
}
std::string colorPowerLineFrequencyToString(int value) {
switch (value) {
case 0:
return "disable";
case 1:
return "50hz";
case 2:
return "60hz";
case 3:
return "auto";
default:
return "unknown";
}
}
std::string depthPrecisionLevelToString(int value) {
switch (static_cast<OB_DEPTH_PRECISION_LEVEL>(value)) {
case OB_PRECISION_1MM:
return "1mm";
case OB_PRECISION_0MM8:
return "0.8mm";
case OB_PRECISION_0MM4:
return "0.4mm";
case OB_PRECISION_0MM2:
return "0.2mm";
case OB_PRECISION_0MM1:
return "0.1mm";
default:
return "unknown";
}
}
OBMultiDeviceSyncMode OBSyncModeFromString(const std::string &mode) {
if (mode == "FREE_RUN") {
return OBMultiDeviceSyncMode::OB_MULTI_DEVICE_SYNC_MODE_FREE_RUN;
@@ -560,6 +592,43 @@ OBMultiDeviceSyncMode OBSyncModeFromString(const std::string &mode) {
}
}
std::string disparityRangeModeToString(int value) {
switch (value) {
case 0:
return "64";
case 1:
return "128";
case 2:
return "256";
default:
return "unknown";
}
}
std::string exposureRangeModeToString(int value) {
switch (value) {
case 0:
return "regular";
case 1:
return "ultimate";
default:
return "unknown";
}
}
std::string intraCameraSyncReferenceToString(int value) {
switch (value) {
case 0:
return "Start";
case 1:
return "Middle";
case 2:
return "End";
default:
return "unknown";
}
}
OB_SAMPLE_RATE sampleRateFromString(std::string &sample_rate) {
// covert to lower case
std::transform(sample_rate.begin(), sample_rate.end(), sample_rate.begin(), ::tolower);