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support 60hz video fps

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datean
2024-12-05 21:35:53 +08:00
parent f1134728f2
commit f3f780531c
3 changed files with 13 additions and 23 deletions
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orbbec_camera/config/camera_params.yaml
+8 -8
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@@ -8,7 +8,7 @@ time_domain: "global" # global, device, system
enable_sync_host_time: true enable_sync_host_time: true
frames_per_trigger: 1 frames_per_trigger: 1
log_level: "warning" log_level: "warning"
enable_laser: false enable_laser: true
# When 3D reconstruction mode is enabled: # When 3D reconstruction mode is enabled:
# - The laser will switch to on-off mode # - The laser will switch to on-off mode
@@ -20,7 +20,7 @@ enable_3d_reconstruction_mode: false
enable_color: true enable_color: true
color_width: 640 color_width: 640
color_height: 480 color_height: 480
color_fps: 30 color_fps: 60
color_format: "YUYV" color_format: "YUYV"
enable_color_auto_exposure: false enable_color_auto_exposure: false
color_exposure: 50 # 5ms color_exposure: 50 # 5ms
@@ -30,20 +30,20 @@ color_qos: "sensor_data"
# depth params # depth params
depth_width: 640 depth_width: 640
depth_height: 480 depth_height: 480
depth_fps: 30 depth_fps: 60
depth_format: "Y16" depth_format: "Y16"
depth_qos: "sensor_data" depth_qos: "sensor_data"
# ir exposure # ir exposure
enable_ir_auto_exposure: false enable_ir_auto_exposure: true
ir_exposure: 5000 # 5ms ir_exposure: -1
ir_gain: 40 ir_gain: -1
#left ir params #left ir params
enable_left_ir: true enable_left_ir: true
left_ir_width: 640 left_ir_width: 640
left_ir_height: 480 left_ir_height: 480
left_ir_fps: 30 left_ir_fps: 60
left_ir_format: "Y8" left_ir_format: "Y8"
left_ir_qos: "sensor_data" left_ir_qos: "sensor_data"
@@ -51,6 +51,6 @@ left_ir_qos: "sensor_data"
enable_right_ir: true enable_right_ir: true
right_ir_width: 640 right_ir_width: 640
right_ir_height: 480 right_ir_height: 480
right_ir_fps: 30 right_ir_fps: 60
right_ir_format: "Y8" right_ir_format: "Y8"
right_ir_qos: "sensor_data" right_ir_qos: "sensor_data"
orbbec_camera/launch/gemini_330_series_interleave_laser_g335L.launch.py
+3 -3
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@@ -182,9 +182,9 @@ def generate_launch_description():
DeclareLaunchArgument('config_file_path', default_value=''), DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument('enable_heartbeat', default_value='false'), DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('enable_hardware_reset', default_value='false'), DeclareLaunchArgument('enable_hardware_reset', default_value='false'),
DeclareLaunchArgument('interleave_ae_mode', default_value='hdr'), # 'hdr' or 'laser' DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
DeclareLaunchArgument('interleave_frame_enable', default_value='false'), DeclareLaunchArgument('interleave_frame_enable', default_value='true'),
DeclareLaunchArgument('interleave_skip_enable', default_value='false'), DeclareLaunchArgument('interleave_skip_enable', default_value='true'),
DeclareLaunchArgument('interleave_skip_index', default_value='0'), # 0:skip pattern ir 1: skip flood ir DeclareLaunchArgument('interleave_skip_index', default_value='0'), # 0:skip pattern ir 1: skip flood ir
DeclareLaunchArgument('use_intra_process_comms', default_value='false'), DeclareLaunchArgument('use_intra_process_comms', default_value='false'),
DeclareLaunchArgument('attach_to_shared_component_container', default_value='false'), DeclareLaunchArgument('attach_to_shared_component_container', default_value='false'),
orbbec_camera/src/ob_camera_node.cpp
+2 -12
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@@ -814,8 +814,7 @@ int OBCameraNode::init_interleave_laser_param() {
device_->setIntProperty(OB_PROP_DEPTH_EXPOSURE_INT, 3000); device_->setIntProperty(OB_PROP_DEPTH_EXPOSURE_INT, 3000);
device_->setIntProperty(OB_PROP_DEPTH_GAIN_INT, 16); device_->setIntProperty(OB_PROP_DEPTH_GAIN_INT, 16);
device_->setIntProperty(OB_PROP_IR_BRIGHTNESS_INT, 60); device_->setIntProperty(OB_PROP_IR_BRIGHTNESS_INT, 60);
// device_->setIntProperty(OB_PROP_IR_AE_MAX_EXPOSURE_INT, 30000); device_->setIntProperty(OB_PROP_IR_AE_MAX_EXPOSURE_INT, 7000);
device_->setIntProperty(OB_PROP_IR_AE_MAX_EXPOSURE_INT, 17000);
// set interleaveae // set interleaveae
device_->setIntProperty(OB_PROP_FRAME_INTERLEAVE_CONFIG_INDEX_INT, 0); device_->setIntProperty(OB_PROP_FRAME_INTERLEAVE_CONFIG_INDEX_INT, 0);
@@ -823,7 +822,7 @@ int OBCameraNode::init_interleave_laser_param() {
device_->setIntProperty(OB_PROP_DEPTH_EXPOSURE_INT, 3000); device_->setIntProperty(OB_PROP_DEPTH_EXPOSURE_INT, 3000);
device_->setIntProperty(OB_PROP_DEPTH_GAIN_INT, 16); device_->setIntProperty(OB_PROP_DEPTH_GAIN_INT, 16);
device_->setIntProperty(OB_PROP_IR_BRIGHTNESS_INT, 60); device_->setIntProperty(OB_PROP_IR_BRIGHTNESS_INT, 60);
device_->setIntProperty(OB_PROP_IR_AE_MAX_EXPOSURE_INT, 30000); device_->setIntProperty(OB_PROP_IR_AE_MAX_EXPOSURE_INT, 17000);
return 0; return 0;
} }
@@ -854,15 +853,6 @@ void OBCameraNode::startStreams() {
pipeline_->start(pipeline_config_, [this](const std::shared_ptr<ob::FrameSet> &frame_set) { pipeline_->start(pipeline_config_, [this](const std::shared_ptr<ob::FrameSet> &frame_set) {
onNewFrameSetCallback(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) { } catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to start pipeline: " << e.getMessage()); RCLCPP_ERROR_STREAM(logger_, "Failed to start pipeline: " << e.getMessage());
RCLCPP_INFO_STREAM(logger_, "try to disable ir stream and try again"); RCLCPP_INFO_STREAM(logger_, "try to disable ir stream and try again");