mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-14 20:10:19 +08:00
Adapter Femto bolt device.
This commit is contained in:
lixiaobin
@@ -58,7 +58,7 @@ ob_multi_device_sync_config ob_device_get_multi_device_sync_config(ob_device *de
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* @brief The device will start one time image capture after receiving the capture command when it is in the @ref OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_TRIGGERING
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*
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* @attention The frequency of the user call this function multiplied by the number of frames per trigger should be less than the frame rate of the stream. The
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* number of frames per trigger can be set by @ref framesPerTriggerForTriggeringMode.
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* number of frames per trigger can be set by @ref framesPerTrigger.
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* @attention For some models，receive and execute the capture command will have a certain delay and performance consumption, so the frequency of calling this
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* function should not be too high, please refer to the product manual for the specific supported frequency.
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* @attention If the device is not in the @ref OB_MULTI_DEVICE_SYNC_MODE_HARDWARE_TRIGGERING mode, device will ignore the capture command.
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@@ -146,14 +146,15 @@ typedef struct ob_error {
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* @brief Enumeration value describing the sensor type
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*/
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typedef enum {
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OB_SENSOR_UNKNOWN = 0, /**< Unknown type sensor */
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OB_SENSOR_IR = 1, /**< IR */
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OB_SENSOR_COLOR = 2, /**< Color */
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OB_SENSOR_DEPTH = 3, /**< Depth */
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OB_SENSOR_ACCEL = 4, /**< Accel */
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OB_SENSOR_GYRO = 5, /**< Gyro */
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OB_SENSOR_IR_LEFT = 6, /**< left IR */
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OB_SENSOR_IR_RIGHT = 7, /**< Right IR */
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OB_SENSOR_UNKNOWN = 0, /**< Unknown type sensor */
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OB_SENSOR_IR = 1, /**< IR */
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OB_SENSOR_COLOR = 2, /**< Color */
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OB_SENSOR_DEPTH = 3, /**< Depth */
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OB_SENSOR_ACCEL = 4, /**< Accel */
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OB_SENSOR_GYRO = 5, /**< Gyro */
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OB_SENSOR_IR_LEFT = 6, /**< left IR */
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OB_SENSOR_IR_RIGHT = 7, /**< Right IR */
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OB_SENSOR_RAW_PHASE = 8, /**< Raw Phase */
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} OBSensorType,
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ob_sensor_type;
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@@ -161,15 +162,16 @@ typedef enum {
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* @brief Enumeration value describing the type of data stream
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*/
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typedef enum {
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OB_STREAM_UNKNOWN = -1, /**< Unknown type stream */
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OB_STREAM_VIDEO = 0, /**< Video stream (infrared, color, depth streams are all video streams) */
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OB_STREAM_IR = 1, /**< IR stream */
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OB_STREAM_COLOR = 2, /**< color stream */
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OB_STREAM_DEPTH = 3, /**< depth stream */
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OB_STREAM_ACCEL = 4, /**< Accelerometer data stream */
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OB_STREAM_GYRO = 5, /**< Gyroscope data stream */
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OB_STREAM_IR_LEFT = 6, /**< Left IR stream */
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OB_STREAM_IR_RIGHT = 7, /**< Right IR stream */
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OB_STREAM_UNKNOWN = -1, /**< Unknown type stream */
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OB_STREAM_VIDEO = 0, /**< Video stream (infrared, color, depth streams are all video streams) */
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OB_STREAM_IR = 1, /**< IR stream */
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OB_STREAM_COLOR = 2, /**< color stream */
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OB_STREAM_DEPTH = 3, /**< depth stream */
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OB_STREAM_ACCEL = 4, /**< Accelerometer data stream */
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OB_STREAM_GYRO = 5, /**< Gyroscope data stream */
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OB_STREAM_IR_LEFT = 6, /**< Left IR stream */
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OB_STREAM_IR_RIGHT = 7, /**< Right IR stream */
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OB_STREAM_RAW_PHASE = 8, /**< RawPhase Stream */
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} OBStreamType,
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ob_stream_type;
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@@ -177,17 +179,18 @@ typedef enum {
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* @brief Enumeration value describing the type of frame
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*/
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typedef enum {
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OB_FRAME_UNKNOWN = -1, /**< Unknown frame type */
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OB_FRAME_VIDEO = 0, /**< Video frame */
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OB_FRAME_IR = 1, /**< IR frame */
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OB_FRAME_COLOR = 2, /**< Color frame */
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OB_FRAME_DEPTH = 3, /**< Depth frame */
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OB_FRAME_ACCEL = 4, /**< Accelerometer data frame */
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OB_FRAME_SET = 5, /**< Frame collection (internally contains a variety of data frames) */
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OB_FRAME_POINTS = 6, /**< Point cloud frame */
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OB_FRAME_GYRO = 7, /**< Gyroscope data frame */
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OB_FRAME_IR_LEFT = 8, /**< Left IR frame */
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OB_FRAME_IR_RIGHT = 9, /**< Right IR frame */
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OB_FRAME_UNKNOWN = -1, /**< Unknown frame type */
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OB_FRAME_VIDEO = 0, /**< Video frame */
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OB_FRAME_IR = 1, /**< IR frame */
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OB_FRAME_COLOR = 2, /**< Color frame */
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OB_FRAME_DEPTH = 3, /**< Depth frame */
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OB_FRAME_ACCEL = 4, /**< Accelerometer data frame */
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OB_FRAME_SET = 5, /**< Frame collection (internally contains a variety of data frames) */
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OB_FRAME_POINTS = 6, /**< Point cloud frame */
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OB_FRAME_GYRO = 7, /**< Gyroscope data frame */
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OB_FRAME_IR_LEFT = 8, /**< Left IR frame */
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OB_FRAME_IR_RIGHT = 9, /**< Right IR frame */
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OB_FRAME_RAW_PHASE = 10, /**< Rawphase frame*/
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} OBFrameType,
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ob_frame_type;
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@@ -1069,7 +1072,7 @@ typedef enum {
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* @brief software triggering mode
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* @brief The device will start one time image capture after receiving the capture command and will output the trigger signal via VSYNC_OUT pin by default.
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* The capture command can be sent form host by call @ref ob_device_trigger_capture. The number of images captured each time can be set by @ref
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* framesPerTriggerForTriggeringMode.
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* framesPerTrigger.
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* @brief The Color and Depth should be set to same frame rates, the Color and Depth will be synchronized and can be adjusted by @ref colorDelayUs, @ref
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* depthDelayUs or @ref trigger2ImageDelayUs.
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*
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@@ -1081,7 +1084,7 @@ typedef enum {
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/**
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* @brief hardware triggering mode
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* @brief The device will start one time image capture after receiving the trigger signal via VSYNC_IN pin on synchronization port and will output the
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* trigger signal via VSYNC_OUT pin by default. The number of images captured each time can be set by @ref framesPerTriggerForTriggeringMode.
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* trigger signal via VSYNC_OUT pin by default. The number of images captured each time can be set by @ref framesPerTrigger.
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* @brief The Color and Depth should be set to same frame rates, the Color and Depth will be synchronized and can be adjusted by @ref colorDelayUs, @ref
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* depthDelayUs or @ref trigger2ImageDelayUs.
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*
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@@ -1124,7 +1127,7 @@ typedef struct {
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* @brief The delay time of the image capture after receiving the capture command or trigger signal in microseconds.
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* @brief The depth and color images are captured synchronously as the product design and can not change the delay between the depth and color images.
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*
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* @attention For Orbbec Astra 2 device, this parameter is valid only when the @ref triggerSignalOutputDelayUs is set to 0.
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* @attention For Orbbec Astra 2 device, this parameter is valid only when the @ref triggerOutDelayUs is set to 0.
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* @attention This parameter is only valid for some models to replace @ref depthDelayUs and @ref colorDelayUs, please refer to the product manual for
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* details.
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*/
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@@ -1133,13 +1136,13 @@ typedef struct {
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/**
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* @brief Trigger signal output enable flag.
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* @brief After the trigger signal output is enabled, the trigger signal will be output when the capture command or trigger signal is received. User can
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* adjust the delay time of the trigger signal output by @ref triggerSignalOutputDelayUs.
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* adjust the delay time of the trigger signal output by @ref triggerOutDelayUs.
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*
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* @attention For some models, the trigger signal output is always enabled and cannot be disabled in some modes.
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* @attention For some models, the trigger signal output is always enabled and cannot be disabled.
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* @attention If device is in the @ref OB_MULTI_DEVICE_SYNC_MODE_FREE_RUN or @ref OB_MULTI_DEVICE_SYNC_MODE_STANDALONE mode, the trigger signal output is
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* always disabled. Set this parameter to true will not take effect.
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*/
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bool triggerSignalOutputEnable;
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bool triggerOutEnable;
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/**
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* @brief The delay time of the trigger signal output after receiving the capture command or trigger signal in microseconds.
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@@ -1147,17 +1150,17 @@ typedef struct {
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* @attention For Orbbec Astra 2 device, only supported -1 and 0. -1 means the trigger signal output delay is automatically adjusted by the device, 0 means
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* the trigger signal output is disabled.
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*/
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int triggerSignalOutputDelayUs;
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int triggerOutDelayUs;
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/**
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* @brief The number of frames per trigger in the triggering mode.
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* @brief The frame number of each stream after each trigger in triggering mode.
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*
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* @attention This parameter is only valid when the triggering mode is set to @ref OB_MULTI_DEVICE_SYNC_MODE_HARDWARE_TRIGGERING or @ref
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* OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_TRIGGERING.
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* @attention The trigger frequency multiplied by the number of frames per trigger cannot exceed the maximum frame rate of the stream profile which is set
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* when starting the stream.
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*/
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int framesPerTriggerForTriggeringMode;
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int framesPerTrigger;
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} ob_multi_device_sync_config, OBMultiDeviceSyncConfig;
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/**
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@@ -384,6 +384,8 @@ typedef enum {
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*/
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OB_PROP_LASER_PULSE_WIDTH_PROTECTION_STATUS_BOOL = 149,
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OB_PROP_UPDATE_BASE_TIME_BOOL = 150,
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/**
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* @brief Baseline calibration parameters
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*/
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@@ -577,6 +579,11 @@ typedef enum {
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*/
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OB_PROP_IR_SHORT_EXPOSURE_BOOL = 2032,
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/**
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* @brief Color camera HDR
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*/
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OB_PROP_COLOR_HDR_BOOL = 2034,
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/**
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* @brief Software disparity to depth
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*/
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@@ -480,7 +480,7 @@ public:
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* OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_TRIGGERING
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*
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* @attention The frequency of the user call this function multiplied by the number of frames per trigger should be less than the frame rate of the stream.
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* The number of frames per trigger can be set by @ref framesPerTriggerForTriggeringMode.
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* The number of frames per trigger can be set by @ref framesPerTrigger.
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* @attention For some models，receive and execute the capture command will have a certain delay and performance consumption, so the frequency of calling
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* this function should not be too high, please refer to the product manual for the specific supported frequency.
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* @attention If the device is not in the @ref OB_MULTI_DEVICE_SYNC_MODE_HARDWARE_TRIGGERING mode, device will ignore the capture command.
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@@ -360,6 +360,18 @@ public:
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float temperature();
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};
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/**
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* @brief Define the RawPhaseFrame class, which inherits from the VideoFrame class
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*/
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class OB_EXTENSION_API RawPhaseFrame : public VideoFrame {
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public:
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explicit RawPhaseFrame(Frame &frame);
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explicit RawPhaseFrame(std::unique_ptr<FrameImpl> impl);
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~RawPhaseFrame() noexcept override = default;
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};
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/**
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* @brief Define the FrameHelper class
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*/
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@@ -455,6 +467,8 @@ template <typename T> bool Frame::is() {
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return (typeid(T) == typeid(FrameSet));
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case OB_FRAME_POINTS:
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return (typeid(T) == typeid(PointsFrame));
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case OB_FRAME_RAW_PHASE:
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return (typeid(T) == typeid(RawPhaseFrame) || typeid(T) == typeid(VideoFrame));
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default:
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std::cout << "ob::Frame::is() did not catch frame type: " << (int)this->type() << std::endl;
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break;
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@@ -161,6 +161,7 @@ template <typename T> bool StreamProfile::is() {
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case OB_STREAM_IR_RIGHT:
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case OB_STREAM_COLOR:
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case OB_STREAM_DEPTH:
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case OB_STREAM_RAW_PHASE:
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return typeid(T) == typeid(VideoStreamProfile);
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case OB_STREAM_ACCEL:
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return typeid(T) == typeid(AccelStreamProfile);
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@@ -1 +1 @@
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libOrbbecSDK.so.1.7
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libOrbbecSDK.so.1.8
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@@ -1 +0,0 @@
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libOrbbecSDK.so.1.7.4
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Binary file not shown.
File diff suppressed because it is too large
Load Diff
@@ -401,8 +401,8 @@ class OBCameraNode {
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int depth_delay_us_ = 0;
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int color_delay_us_ = 0;
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int trigger2image_delay_us_ = 0;
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int trigger_signal_output_delay_us_ = 0;
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bool trigger_signal_output_enabled_ = false;
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int trigger_output_delay_us_ = 0;
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bool trigger_output_enabled_ = false;
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std::string depth_precision_str_;
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OB_DEPTH_PRECISION_LEVEL depth_precision_ = OB_PRECISION_0MM8;
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// IMU
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@@ -0,0 +1,104 @@
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import PushRosNamespace
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from launch.actions import GroupAction
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from launch_ros.actions import ComposableNodeContainer
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from launch_ros.descriptions import ComposableNode
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def generate_launch_description():
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# Declare arguments
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args = [
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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('serial_number', 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('vendor_id', default_value='0x2bc5'),
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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_colored_point_cloud', default_value='false'),
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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('color_width', default_value='1920'),
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DeclareLaunchArgument('color_height', default_value='1080'),
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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('enable_color', default_value='true'),
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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_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
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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_fps', default_value='30'),
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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('flip_depth', default_value='false'),
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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('ir_width', default_value='640'),
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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_format', default_value='Y16'),
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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('ir_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_accel', default_value='false'),
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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('enable_gyro', default_value='false'),
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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('liner_accel_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('tf_publish_rate', default_value='10.0'),
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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('log_level', default_value='none'),
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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_soft_filter', default_value='true'),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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DeclareLaunchArgument('enable_soft_filter', default_value='true'),
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DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
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DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
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]
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# Node configuration
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parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
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# Define the ComposableNode
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compose_node = ComposableNode(
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package='orbbec_camera',
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plugin='orbbec_camera::OBCameraNodeDriver',
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name=LaunchConfiguration('camera_name'),
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namespace='',
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parameters=parameters,
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)
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# Define the ComposableNodeContainer
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container = ComposableNodeContainer(
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name='camera_container',
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namespace='',
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package='rclcpp_components',
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executable='component_container',
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composable_node_descriptions=[
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compose_node,
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],
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output='screen',
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)
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# Launch description
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ld = LaunchDescription(
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args +
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[
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GroupAction([
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PushRosNamespace(LaunchConfiguration('camera_name')),
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container
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])
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]
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)
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return ld
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@@ -71,8 +71,8 @@ def generate_launch_description():
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DeclareLaunchArgument('depth_delay_us', default_value='0'),
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DeclareLaunchArgument('color_delay_us', default_value='0'),
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DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
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DeclareLaunchArgument('trigger_signal_output_delay_us', default_value='0'),
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DeclareLaunchArgument('trigger_signal_output_enabled', default_value='false'),
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DeclareLaunchArgument('trigger_output_delay_us', default_value='0'),
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DeclareLaunchArgument('trigger_output_enabled', default_value='false'),
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]
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# Node configuration
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@@ -71,8 +71,8 @@ def generate_launch_description():
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DeclareLaunchArgument('depth_delay_us', default_value='0'),
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DeclareLaunchArgument('color_delay_us', default_value='0'),
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DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
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DeclareLaunchArgument('trigger_signal_output_delay_us', default_value='0'),
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DeclareLaunchArgument('trigger_signal_output_enabled', default_value='false'),
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DeclareLaunchArgument('trigger_output_delay_us', default_value='0'),
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DeclareLaunchArgument('trigger_output_enabled', default_value='false'),
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]
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# Node configuration
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||||
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@@ -69,8 +69,8 @@ def generate_launch_description():
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DeclareLaunchArgument('depth_delay_us', default_value='0'),
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DeclareLaunchArgument('color_delay_us', default_value='0'),
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DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
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DeclareLaunchArgument('trigger_signal_output_delay_us', default_value='0'),
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DeclareLaunchArgument('trigger_signal_output_enabled', default_value='false'),
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DeclareLaunchArgument('trigger_output_delay_us', default_value='0'),
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||||
DeclareLaunchArgument('trigger_output_enabled', default_value='false'),
|
||||
]
|
||||
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||||
# Node configuration
|
||||
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||||
@@ -79,8 +79,8 @@ def generate_launch_description():
|
||||
DeclareLaunchArgument('depth_delay_us', default_value='0'),
|
||||
DeclareLaunchArgument('color_delay_us', default_value='0'),
|
||||
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
|
||||
DeclareLaunchArgument('trigger_signal_output_delay_us', default_value='0'),
|
||||
DeclareLaunchArgument('trigger_signal_output_enabled', default_value='false'),
|
||||
DeclareLaunchArgument('trigger_output_delay_us', default_value='0'),
|
||||
DeclareLaunchArgument('trigger_output_enabled', default_value='false'),
|
||||
]
|
||||
|
||||
# Node configuration
|
||||
|
||||
@@ -17,7 +17,8 @@ def generate_launch_description():
|
||||
launch_arguments={
|
||||
'camera_name': 'camera_01',
|
||||
'usb_port': '5-3.4.4.3',
|
||||
'device_num': '2'
|
||||
'device_num': '2',
|
||||
'sync_mode': 'free_run'
|
||||
}.items()
|
||||
)
|
||||
|
||||
@@ -28,7 +29,8 @@ def generate_launch_description():
|
||||
launch_arguments={
|
||||
'camera_name': 'camera_02',
|
||||
'usb_port': '5-3.4.4.1',
|
||||
'device_num': '2'
|
||||
'device_num': '2',
|
||||
'sync_mode': 'free_run'
|
||||
}.items()
|
||||
)
|
||||
|
||||
|
||||
@@ -3,6 +3,7 @@ SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0635", MODE:="066
|
||||
SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0638", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="Femto-w"
|
||||
SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0668", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="Femto-live"
|
||||
SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0669", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="Femto-mega"
|
||||
SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="066b", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="Femto Bolt"
|
||||
SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0636", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="Astra+"
|
||||
SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0637", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="Astra+s"
|
||||
SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0536", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="Astra+_rgb"
|
||||
@@ -85,8 +86,6 @@ SUBSYSTEM=="usb", ATTR{idProduct}=="0698", ATTR{idVendor}=="2bc5", MODE:="0666",
|
||||
SUBSYSTEM=="usb", ATTR{idProduct}=="069c", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="TB2201"
|
||||
SUBSYSTEM=="usb", ATTR{idProduct}=="06a0", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_dcw2"
|
||||
SUBSYSTEM=="usb", ATTR{idProduct}=="069f", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_dw2"
|
||||
SUBSYSTEM=="usb", ATTR{idProduct}=="069a", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_max"
|
||||
SUBSYSTEM=="usb", ATTR{idProduct}=="065e", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_mini_s_pro"
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -137,8 +137,8 @@ void OBCameraNode::setupDevices() {
|
||||
sync_config.depthDelayUs = depth_delay_us_;
|
||||
sync_config.colorDelayUs = color_delay_us_;
|
||||
sync_config.trigger2ImageDelayUs = trigger2image_delay_us_;
|
||||
sync_config.triggerSignalOutputDelayUs = trigger_signal_output_delay_us_;
|
||||
sync_config.triggerSignalOutputEnable = trigger_signal_output_enabled_;
|
||||
sync_config.triggerOutDelayUs = trigger_output_delay_us_;
|
||||
sync_config.triggerOutEnable = trigger_output_enabled_;
|
||||
device_->setMultiDeviceSyncConfig(sync_config);
|
||||
}
|
||||
if (info->pid() == GEMINI2_PID) {
|
||||
@@ -435,8 +435,8 @@ void OBCameraNode::getParameters() {
|
||||
setAndGetNodeParameter(depth_delay_us_, "depth_delay_us", 0);
|
||||
setAndGetNodeParameter(color_delay_us_, "color_delay_us", 0);
|
||||
setAndGetNodeParameter(trigger2image_delay_us_, "trigger2image_delay_us", 0);
|
||||
setAndGetNodeParameter(trigger_signal_output_delay_us_, "trigger_signal_output_delay_us", 0);
|
||||
setAndGetNodeParameter(trigger_signal_output_enabled_, "trigger_signal_output_enabled", false);
|
||||
setAndGetNodeParameter(trigger_output_delay_us_, "trigger_output_delay_us", 0);
|
||||
setAndGetNodeParameter(trigger_output_enabled_, "trigger_output_enabled", false);
|
||||
setAndGetNodeParameter<std::string>(depth_precision_str_, "depth_precision", "1mm");
|
||||
std::transform(sync_mode_str_.begin(), sync_mode_str_.end(), sync_mode_str_.begin(), ::toupper);
|
||||
sync_mode_ = OBSyncModeFromString(sync_mode_str_);
|
||||
|
||||
Reference in New Issue
Block a user