only set the interleave param when interleave_frame_enable is enabled

orbbec_camera/config/camera_params.yaml

@@ -4,10 +4,11 @@ enable_point_cloud: false
 enable_colored_point_cloud: false
 device_preset: "Default"
 laser_on_off_mode: 0 # 0: off, 1: on-off, 1: off-on
-time_domain: "device" # global, device, system
+time_domain: "global" # global, device, system
 enable_sync_host_time: true
 frames_per_trigger: 1
 log_level: "warning"
+enable_laser: false
 
 # When 3D reconstruction mode is enabled:
 # - The laser will switch to on-off mode
@@ -19,7 +20,7 @@ enable_3d_reconstruction_mode: false
 enable_color: true
 color_width: 640
 color_height: 480
-color_fps: 60
+color_fps: 30
 color_format: "YUYV"
 enable_color_auto_exposure: false
 color_exposure: 50 # 5ms
@@ -29,20 +30,20 @@ color_qos: "sensor_data"
 # depth params
 depth_width: 640
 depth_height: 480
-depth_fps: 60
+depth_fps: 30
 depth_format: "Y16"
 depth_qos: "sensor_data"
 
 # ir exposure
 enable_ir_auto_exposure: false
-ir_exposure: 15000 # 5ms
+ir_exposure: 5000 # 5ms
 ir_gain: 40
 
 #left ir params
 enable_left_ir: true
 left_ir_width: 640
 left_ir_height: 480
-left_ir_fps: 60
+left_ir_fps: 30
 left_ir_format: "Y8"
 left_ir_qos: "sensor_data"
 
@@ -50,6 +51,6 @@ left_ir_qos: "sensor_data"
 enable_right_ir: true
 right_ir_width: 640
 right_ir_height: 480
-right_ir_fps: 60
+right_ir_fps: 30
 right_ir_format: "Y8"
 right_ir_qos: "sensor_data"

orbbec_camera/launch/gemini_330_series_interleave_laser_g335L.launch.py

@@ -182,9 +182,9 @@ def generate_launch_description():
         DeclareLaunchArgument('config_file_path', default_value=''),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
         DeclareLaunchArgument('enable_hardware_reset', default_value='false'),
-        DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
+        DeclareLaunchArgument('interleave_ae_mode', default_value='hdr'), # 'hdr' or 'laser'
-        DeclareLaunchArgument('interleave_frame_enable', default_value='true'),
+        DeclareLaunchArgument('interleave_frame_enable', default_value='false'),
-        DeclareLaunchArgument('interleave_skip_enable', default_value='true'),
+        DeclareLaunchArgument('interleave_skip_enable', default_value='false'),
         DeclareLaunchArgument('interleave_skip_index', default_value='0'), # 0:skip pattern ir  1: skip flood ir
         DeclareLaunchArgument('use_intra_process_comms', default_value='false'),
         DeclareLaunchArgument('attach_to_shared_component_container', default_value='false'),

orbbec_camera/launch/multi_camera_synced.launch.py

@@ -45,17 +45,17 @@ def generate_launch_description():
         ),
         launch_arguments={
             "camera_name": "front_camera",
-            # "usb_port": "2-1",
+            "usb_port": "2-1",
-            "usb_port": "gmsl2-4",
+            # "usb_port": "gmsl2-4",
             "device_num": "4",
-            # "sync_mode": "primary",
+            "sync_mode": "primary",
-            "sync_mode": "secondary_synced",
+            # "sync_mode": "secondary_synced",
             "config_file_path": config_file_path,
             'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms"),
             'attach_to_shared_component_container': attach_to_shared_component_container_arg,
             'component_container_name': component_container_name_arg,
-            'gmsl_trigger_fps': "5990",
+            # 'gmsl_trigger_fps': "5990",
-            'enable_gmsl_trigger': "true",
+            # 'enable_gmsl_trigger': "true",
         }.items(),
     )
     left_camera = IncludeLaunchDescription(
@@ -64,8 +64,8 @@ def generate_launch_description():
         ),
         launch_arguments={
             "camera_name": "left_camera",
-            # "usb_port": "2-3.1",
+            "usb_port": "2-3.1",
-            "usb_port": "gmsl2-3",
+            # "usb_port": "gmsl2-3",
             "device_num": "4",
             "sync_mode": "secondary_synced",
             "config_file_path": config_file_path,
@@ -80,8 +80,8 @@ def generate_launch_description():
         ),
         launch_arguments={
             "camera_name": "right_camera",
-            # "usb_port": "2-3.3",
+            "usb_port": "2-3.3",
-            "usb_port": "gmsl2-1",
+            # "usb_port": "gmsl2-1",
             "device_num": "4",
             "sync_mode": "secondary_synced",
             "config_file_path": config_file_path,
@@ -96,8 +96,8 @@ def generate_launch_description():
         ),
         launch_arguments={
             "camera_name": "rear_camera",
-            # "usb_port": "2-2",
+            "usb_port": "2-2",
-            "usb_port": "gmsl2-7",
+            # "usb_port": "gmsl2-7",
             "device_num": "4",
             "sync_mode": "secondary_synced",
             "config_file_path": config_file_path,

orbbec_camera/src/ob_camera_node.cpp

@@ -218,9 +218,13 @@ void OBCameraNode::setupDevices() {
     TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_LDP_BOOL, enable_ldp_);
   }
   if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
-    RCLCPP_INFO_STREAM(logger_, "Setting laser control to " << enable_laser_);
+    RCLCPP_INFO_STREAM(logger_, "Setting G300 laser control to " << enable_laser_);
     TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_CONTROL_INT, enable_laser_);
   }
+  if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) {
+    RCLCPP_INFO_STREAM(logger_, "Setting laser control to " << enable_laser_);
+    TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_BOOL, enable_laser_);
+  }
   if (device_->isPropertySupported(OB_PROP_LASER_ON_OFF_MODE_INT, OB_PERMISSION_READ_WRITE)) {
     RCLCPP_INFO_STREAM(logger_, "Setting laser on off mode to " << laser_on_off_mode_);
     TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_ON_OFF_MODE_INT, laser_on_off_mode_);
@@ -407,6 +411,8 @@ void OBCameraNode::setupDevices() {
       device_->isPropertySupported(OB_PROP_IR_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
     TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_IR_AUTO_EXPOSURE_BOOL, false);
     auto range = device_->getIntPropertyRange(OB_PROP_IR_EXPOSURE_INT);
+    RCLCPP_ERROR(logger_, "ir exposure value is out of range[%d,%d], please check the value",
+                 range.min, range.max);
     if (ir_exposure_ < range.min || ir_exposure_ > range.max) {
       RCLCPP_ERROR(logger_, "ir exposure value is out of range[%d,%d], please check the value",
                    range.min, range.max);
@@ -418,6 +424,8 @@ void OBCameraNode::setupDevices() {
   if (ir_gain_ != -1 && device_->isPropertySupported(OB_PROP_IR_GAIN_INT, OB_PERMISSION_WRITE)) {
     TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_IR_AUTO_EXPOSURE_BOOL, false);
     auto range = device_->getIntPropertyRange(OB_PROP_IR_GAIN_INT);
+    RCLCPP_ERROR(logger_, "ir gain value is out of range[%d,%d], please check the value", range.min,
+                 range.max);
     if (ir_gain_ < range.min || ir_gain_ > range.max) {
       RCLCPP_ERROR(logger_, "ir gain value is out of range[%d,%d], please check the value",
                    range.min, range.max);
@@ -828,6 +836,7 @@ void OBCameraNode::startStreams() {
   try {
     setupPipelineConfig();
 
+    if (interleave_frame_enable_) {
       // set interleave mode
       if (interleave_ae_mode_ == "hdr") {
         RCLCPP_INFO_STREAM(logger_, "Setting interleave mode to hdr");
@@ -840,10 +849,20 @@ void OBCameraNode::startStreams() {
       } else {
         RCLCPP_INFO_STREAM(logger_, "Setting interleave mode to nothing");
       }
+    }
 
     pipeline_->start(pipeline_config_, [this](const std::shared_ptr<ob::FrameSet> &frame_set) {
       onNewFrameSetCallback(frame_set);
     });
+
+    // if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
+    //   RCLCPP_INFO_STREAM(logger_, "Setting G300 laser control to " << enable_laser_);
+    //   TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_CONTROL_INT, enable_laser_);
+    // }
+    // if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) {
+    //   RCLCPP_INFO_STREAM(logger_, "Setting laser control to " << enable_laser_);
+    //   TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_BOOL, enable_laser_);
+    // }
   } catch (const ob::Error &e) {
     RCLCPP_ERROR_STREAM(logger_, "Failed to start pipeline: " << e.getMessage());
     RCLCPP_INFO_STREAM(logger_, "try to disable ir stream and try again");
@@ -2065,7 +2084,7 @@ void OBCameraNode::updateStreamInfo(const std::shared_ptr<ob::Frame> &frame,
       return;
   }
 
-  if (interleave_skip_enable_) {
+  if (interleave_frame_enable_ && interleave_skip_enable_) {
     dst_fps = fps_[dst_frame_type] / 2;
   } else {
     dst_fps = fps_[dst_frame_type];
@@ -2130,7 +2149,7 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
   std::shared_ptr<ob::VideoFrame> video_frame;
   if (frame->getType() == OB_FRAME_COLOR) {
     // updateStreamInfo(frame, color_stream_info_);
-    if (interleave_skip_enable_) {
+    if (interleave_frame_enable_ && interleave_skip_enable_) {
       interleave_skip_color_index_++;
       RCLCPP_DEBUG(logger_, "interleave filter skip interleave_skip_color_index_: %d",
                    interleave_skip_color_index_);
@@ -2143,7 +2162,7 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
     video_frame = frame->as<ob::ColorFrame>();
   } else if (frame->getType() == OB_FRAME_DEPTH) {
     // updateStreamInfo(frame, depth_stream_info_);
-    if (interleave_skip_enable_) {
+    if (interleave_frame_enable_ && interleave_skip_enable_) {
       interleave_skip_depth_index_++;
       RCLCPP_DEBUG(logger_, "interleave filter skip interleave_skip_index_: %d",
                    interleave_skip_depth_index_);
@@ -2159,7 +2178,7 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
     video_frame = frame->as<ob::IRFrame>();
 
     // interleave filter speckle or flood ir
-    if (interleave_skip_enable_) {
+    if (interleave_frame_enable_ && interleave_skip_enable_) {
       RCLCPP_DEBUG(logger_, "interleave filter skip interleave_skip_index_: %d",
                    interleave_skip_index_);
       if (video_frame->getMetadataValue(OB_FRAME_METADATA_TYPE_HDR_SEQUENCE_INDEX) ==

orbbec_camera/src/ros_service.cpp

@@ -480,12 +480,11 @@ void OBCameraNode::setLaserEnableCallback(
   (void)request_header;
   (void)response;
   auto device_info = device_->getDeviceInfo();
-  auto pid = device_info->getPid();
   int laser_enable = request->data ? 1 : 0;
   try {
-    if (isGemini335PID(pid)) {
+    if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
       device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, laser_enable);
-    } else {
+    } else if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) {
       device_->setIntProperty(OB_PROP_LASER_BOOL, laser_enable);
     }
     response->success = true;