mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
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Add Chinese documentation for camera and lidar devices
This commit is contained in:
ob-yalian
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Application Guide
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======================================================
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This chapter introduces application development with the SDK, including launch parameter configuration, ROS2 services, and topics usage.
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.. toctree::
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:maxdepth: 2
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launch_parameters.md
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services.md
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topics.md
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coordinate_and_tf.md
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compressed_image.md
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point_cloud.md
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### Compressed Image
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You can use `image_transport` to compress the image using `jpeg`. Below is an example of how to use it:
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To access the compressed color image, you can use the following command:
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```bash
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ros2 topic echo /camera/color/image_raw/compressed --no-arr
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```
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This command will allow you to receive the compressed color image from the specified topic.
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## Coordinate Systems and TF Transforms
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### Camera sensor structure
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### TF from coordinate A to coordinate B:
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In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position.
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You can view the camera's URDF model and coordinate system structure using the following command:
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```bash
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ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
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```
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### ROS2 Robot Coordinate System vs Camera Optical Coordinate System
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* Point of View:
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* Imagine standing behind the camera and looking forward.
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* Always use this point of view when discussing coordinates, left vs right IR, sensor positions, etc.
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* ROS2 Coordinate System: (X: Forward, Y: Left, Z: Up)
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* Camera Optical Coordinate System: (X: Right, Y: Down, Z: Forward)
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* All data published in the wrapper topics is optical data taken directly from the camera sensors.
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* Static and dynamic TF topics publish optical and ROS coordinate systems so users can transform between them.
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### Using ROS2 TF Tools
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#### View TF Tree Structure
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Use the following ROS2 commands to print and visualize the TF tree published by the camera package:
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**Print all TF relationships:**
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```bash
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ros2 run tf2_tools view_frames
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```
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This command generates a `frames.pdf` file showing the hierarchy between all frames.
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**View all currently published TF information:**
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```bash
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ros2 topic echo /tf_static
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```
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**View the TF transform between two specified frames:**
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Use the following command to view the transform between two specific frames:
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```bash
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ros2 run tf2_ros tf2_echo [source_frame] [target_frame]
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```
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Example, view transform from `camera_link` to `camera_depth_optical_frame`:
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```bash
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ros2 run tf2_ros tf2_echo camera_link camera_depth_optical_frame
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```
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The command continuously outputs the real-time transform between the two frames, including:
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- Translation: x, y, z (meters)
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- Rotation (Quaternion): x, y, z, w
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- Rotation (RPY): roll, pitch, yaw (radians and degrees)
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- Transform Matrix: 4×4 matrix with rotation and translation
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Sample output:
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```
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At time 0.0
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- Translation: [0.000, 0.000, 0.000]
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- Rotation: in Quaternion [-0.500, 0.500, -0.500, 0.500]
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- Rotation: in RPY (radian) [-1.571, -0.000, -1.571]
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- Rotation: in RPY (degree) [-90.000, -0.000, -90.000]
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- Matrix:
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0.000 0.000 1.000 0.000
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-1.000 0.000 0.000 0.000
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0.000 -1.000 0.000 0.000
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0.000 0.000 0.000 1.000
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```
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#### Visualize TF Tree in rviz2
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Use rviz2 to visualize the TF tree and relative frame poses in real time:
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```bash
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rviz2
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```
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In rviz2:
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- Add the `TF` display plugin
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- Set the Fixed Frame to `camera_link` or `camera_depth_optical_frame`
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- Select which TF frames to display
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### Camera TF Calculation and Publishing Mechanism
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#### Core Function: [OBCameraNode::calcAndPublishStaticTransform()](https://github.com/orbbec/OrbbecSDK_ROS2/blob/166c35b4ea211c60265ca9b38b1b15519d1ea3dd/orbbec_camera/src/ob_camera_node.cpp#L3475)
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The camera node uses this function to calculate and publish all static transforms between sensors.
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```cpp
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void OBCameraNode::calcAndPublishStaticTransform() {
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tf2::Quaternion quaternion_optical, zero_rot;
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zero_rot.setRPY(0.0, 0.0, 0.0);
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quaternion_optical.setRPY(-M_PI / 2, 0.0, -M_PI / 2);
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tf2::Vector3 zero_trans(0, 0, 0);
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auto base_stream_profile = stream_profile_[base_stream_];
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auto device_info = device_->getDeviceInfo();
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CHECK_NOTNULL(device_info);
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auto pid = device_info->getPid();
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if (!base_stream_profile) {
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RCLCPP_ERROR_STREAM(logger_, "Failed to get base stream profile");
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return;
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}
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CHECK_NOTNULL(base_stream_profile.get());
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for (const auto &item : stream_profile_) {
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auto stream_index = item.first;
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auto stream_profile = item.second;
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if (!stream_profile) {
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continue;
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}
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OBExtrinsic ex;
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try {
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ex = stream_profile->getExtrinsicTo(base_stream_profile);
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} catch (const ob::Error &e) {
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RCLCPP_ERROR_STREAM(logger_, "Failed to get " << stream_name_[stream_index]
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<< " extrinsic: " << e.getMessage());
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ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
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}
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auto Q = rotationMatrixToQuaternion(ex.rot);
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Q = quaternion_optical * Q * quaternion_optical.inverse();
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tf2::Vector3 trans(ex.trans[0], ex.trans[1], ex.trans[2]);
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auto timestamp = node_->now();
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if (stream_index.first != base_stream_.first) {
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if (stream_index.first == OB_STREAM_IR_RIGHT && base_stream_.first == OB_STREAM_DEPTH) {
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trans[0] = std::abs(trans[0]); // because left and right ir calibration is error
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}
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publishStaticTF(timestamp, trans, Q, frame_id_[base_stream_], frame_id_[stream_index]);
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}
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publishStaticTF(timestamp, zero_trans, quaternion_optical, frame_id_[stream_index],
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optical_frame_id_[stream_index]);
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RCLCPP_INFO_STREAM(logger_, "Publishing static transform from " << stream_name_[stream_index]
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<< " to "
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<< stream_name_[base_stream_]);
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RCLCPP_INFO_STREAM(logger_, "Translation " << trans[0] << ", " << trans[1] << ", " << trans[2]);
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RCLCPP_INFO_STREAM(logger_, "Rotation " << Q.getX() << ", " << Q.getY() << ", " << Q.getZ()
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<< ", " << Q.getW());
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}
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if ((pid == FEMTO_BOLT_PID || pid == FEMTO_MEGA_PID) && enable_stream_[DEPTH] &&
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enable_stream_[COLOR] && enable_publish_extrinsic_) {
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// calc depth to color
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CHECK_NOTNULL(stream_profile_[COLOR]);
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auto depth_to_color_extrinsics = base_stream_profile->getExtrinsicTo(stream_profile_[COLOR]);
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auto Q = rotationMatrixToQuaternion(depth_to_color_extrinsics.rot);
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Q = quaternion_optical * Q * quaternion_optical.inverse();
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publishStaticTF(node_->now(), zero_trans, Q, camera_link_frame_id_, frame_id_[base_stream_]);
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} else {
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publishStaticTF(node_->now(), zero_trans, zero_rot, camera_link_frame_id_,
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frame_id_[base_stream_]);
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}
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if (enable_stream_[DEPTH] && enable_stream_[COLOR] && enable_publish_extrinsic_) {
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static const char *frame_id = "depth_to_color_extrinsics";
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OBExtrinsic ex;
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try {
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ex = base_stream_profile->getExtrinsicTo(stream_profile_[COLOR]);
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} catch (const ob::Error &e) {
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RCLCPP_ERROR_STREAM(logger_,
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"Failed to get " << frame_id << " extrinsic: " << e.getMessage());
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ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
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}
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depth_to_other_extrinsics_[COLOR] = ex;
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auto ex_msg = obExtrinsicsToMsg(ex, frame_id);
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CHECK_NOTNULL(depth_to_other_extrinsics_publishers_[COLOR]);
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depth_to_other_extrinsics_publishers_[COLOR]->publish(ex_msg);
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}
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if (enable_stream_[DEPTH] && enable_stream_[INFRA0] && enable_publish_extrinsic_) {
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static const char *frame_id = "depth_to_ir_extrinsics";
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OBExtrinsic ex;
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try {
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ex = base_stream_profile->getExtrinsicTo(stream_profile_[INFRA0]);
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} catch (const ob::Error &e) {
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RCLCPP_ERROR_STREAM(logger_,
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"Failed to get " << frame_id << " extrinsic: " << e.getMessage());
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ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
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}
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depth_to_other_extrinsics_[INFRA0] = ex;
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auto ex_msg = obExtrinsicsToMsg(ex, frame_id);
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CHECK_NOTNULL(depth_to_other_extrinsics_publishers_[INFRA0]);
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depth_to_other_extrinsics_publishers_[INFRA0]->publish(ex_msg);
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}
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if (enable_stream_[DEPTH] && enable_stream_[INFRA1] && enable_publish_extrinsic_) {
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static const char *frame_id = "depth_to_left_ir_extrinsics";
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OBExtrinsic ex;
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try {
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ex = base_stream_profile->getExtrinsicTo(stream_profile_[INFRA1]);
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} catch (const ob::Error &e) {
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RCLCPP_ERROR_STREAM(logger_,
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"Failed to get " << frame_id << " extrinsic: " << e.getMessage());
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ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
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}
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depth_to_other_extrinsics_[INFRA1] = ex;
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auto ex_msg = obExtrinsicsToMsg(ex, frame_id);
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CHECK_NOTNULL(depth_to_other_extrinsics_publishers_[INFRA1]);
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depth_to_other_extrinsics_publishers_[INFRA1]->publish(ex_msg);
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}
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if (enable_stream_[DEPTH] && enable_stream_[INFRA2] && enable_publish_extrinsic_) {
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static const char *frame_id = "depth_to_right_ir_extrinsics";
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OBExtrinsic ex;
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try {
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ex = base_stream_profile->getExtrinsicTo(stream_profile_[INFRA2]);
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} catch (const ob::Error &e) {
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RCLCPP_ERROR_STREAM(logger_,
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"Failed to get " << frame_id << " extrinsic: " << e.getMessage());
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ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
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}
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ex.trans[0] = -std::abs(ex.trans[0]);
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depth_to_other_extrinsics_[INFRA2] = ex;
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auto ex_msg = obExtrinsicsToMsg(ex, frame_id);
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CHECK_NOTNULL(depth_to_other_extrinsics_publishers_[INFRA2]);
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depth_to_other_extrinsics_publishers_[INFRA2]->publish(ex_msg);
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}
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if (enable_stream_[DEPTH] && enable_stream_[ACCEL] && enable_publish_extrinsic_) {
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static const char *frame_id = "depth_to_accel_extrinsics";
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OBExtrinsic ex;
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try {
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ex = base_stream_profile->getExtrinsicTo(stream_profile_[ACCEL]);
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} catch (const ob::Error &e) {
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RCLCPP_ERROR_STREAM(logger_,
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"Failed to get " << frame_id << " extrinsic: " << e.getMessage());
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ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
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}
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depth_to_other_extrinsics_[ACCEL] = ex;
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auto ex_msg = obExtrinsicsToMsg(ex, frame_id);
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CHECK_NOTNULL(depth_to_other_extrinsics_publishers_[ACCEL]);
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depth_to_other_extrinsics_publishers_[ACCEL]->publish(ex_msg);
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}
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if (enable_stream_[DEPTH] && enable_stream_[GYRO] && enable_publish_extrinsic_) {
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static const char *frame_id = "depth_to_gyro_extrinsics";
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OBExtrinsic ex;
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try {
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ex = base_stream_profile->getExtrinsicTo(stream_profile_[GYRO]);
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} catch (const ob::Error &e) {
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RCLCPP_ERROR_STREAM(logger_,
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"Failed to get " << frame_id << " extrinsic: " << e.getMessage());
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ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
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}
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depth_to_other_extrinsics_[GYRO] = ex;
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auto ex_msg = obExtrinsicsToMsg(ex, frame_id);
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CHECK_NOTNULL(depth_to_other_extrinsics_publishers_[GYRO]);
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depth_to_other_extrinsics_publishers_[GYRO]->publish(ex_msg);
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}
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if (enable_sync_output_accel_gyro_) {
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tf2::Quaternion zero_rot;
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zero_rot.setRPY(0.0, 0.0, 0.0);
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tf2::Vector3 zero_trans(0, 0, 0);
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publishStaticTF(node_->now(), zero_trans, zero_rot, optical_frame_id_[GYRO],
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accel_gyro_frame_id_);
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}
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}
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```
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#### Function Breakdown
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Detailed explanation of the code:
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**Quaternion Initialization and Coordinate Transform**
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```cpp
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tf2::Quaternion quaternion_optical, zero_rot;
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zero_rot.setRPY(0.0, 0.0, 0.0);
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quaternion_optical.setRPY(-M_PI / 2, 0.0, -M_PI / 2);
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```
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- `quaternion_optical`: Defines the rotation from optical coordinates to ROS standard (90° rotation)
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- Converts camera optical CS (X right, Y down, Z forward) to ROS CS (X forward, Y left, Z up)
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**Get Device Info and Base Stream**
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```cpp
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auto base_stream_profile = stream_profile_[base_stream_];
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auto device_info = device_->getDeviceInfo();
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// Base stream usually DEPTH
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```
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- Choose a base stream (usually depth); all other transforms are relative to it
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**Iterate Streams and Compute Relative Transforms**
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```cpp
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for (const auto &item : stream_profile_) {
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auto stream_index = item.first;
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auto stream_profile = item.second;
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OBExtrinsic ex;
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ex = stream_profile->getExtrinsicTo(base_stream_profile);
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auto Q = rotationMatrixToQuaternion(ex.rot);
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Q = quaternion_optical * Q * quaternion_optical.inverse();
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tf2::Vector3 trans(ex.trans[0], ex.trans[1], ex.trans[2]);
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```
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- `OBExtrinsic` holds rotation matrix (`rot`) and translation vector (`trans`)
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- Apply optical-to-ROS rotation via quaternion multiplication
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**Publish TF Transforms**
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```cpp
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publishStaticTF(timestamp, trans, Q, frame_id_[base_stream_], frame_id_[stream_index]);
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publishStaticTF(timestamp, zero_trans, quaternion_optical, frame_id_[stream_index],
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optical_frame_id_[stream_index]);
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```
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- First: base stream to sensor (translation + rotation)
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- Second: sensor frame to optical frame (pure rotation)
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**Special Handling for Left/Right IR**
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```cpp
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if (stream_index.first == OB_STREAM_IR_RIGHT && base_stream_.first == OB_STREAM_DEPTH) {
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trans[0] = std::abs(trans[0]);
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}
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```
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- Ensures symmetry consistency between left/right IR cameras
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**Publish Depth-to-Other Extrinsics**
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```cpp
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if (enable_stream_[DEPTH] && enable_stream_[COLOR] && enable_publish_extrinsic_) {
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OBExtrinsic ex = base_stream_profile->getExtrinsicTo(stream_profile_[COLOR]);
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auto ex_msg = obExtrinsicsToMsg(ex, "depth_to_color_extrinsics");
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depth_to_other_extrinsics_publishers_[COLOR]->publish(ex_msg);
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}
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```
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- Publishes raw extrinsics via topic for advanced alignment and registration
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@@ -0,0 +1,288 @@
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# Launch parameters
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||||
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> If you are not sure how to set the parameters, you can connect the orbbec camera and open the [OrbbecViewer](https://github.com/orbbec/OrbbecSDK/releases).
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The following are the launch parameters available:
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### Core & Stream Configuration
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* **`camera_name`**
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* Start the node namespace.
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* **`serial_number`**
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* The serial number of the camera. This is required when multiple cameras are used.
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* **`usb_port`**
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* The USB port of the camera. This is required when multiple cameras are used.
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* **`device_num`**
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* The number of devices. This must be filled in if multiple cameras are required.
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* **`[color|depth|left_ir|right_ir|ir]_[width|height|fps|format]`**
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* The resolution and frame rate of the sensor stream.
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* **`[color|depth|left_ir|right_ir|ir]_rotation`**
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* Set stream image rotation.
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* The possible values are `0`, `90`, `180`, `270`.
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* **`[color|depth|left_ir|right_ir|ir]_flip`**
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* Enable the stream image flip.
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* **`[color|depth|left_ir|right_ir|ir]_mirror`**
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* Enable the stream image mirror.
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* **`enable_point_cloud`**
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* Enable the point cloud.
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* **`enable_colored_point_cloud`**
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* Enable the RGB point cloud.
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* **`cloud_frame_id`**
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* Modify the `frame_id` name within the ros message.
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* **`ordered_pc`**
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* Enable filtering of invalid point clouds.
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* **`point_cloud_qos`, `[stream]_qos`, `[stream]_camera_info_qos`**
|
||||
* ROS 2 Message Quality of Service (QoS) settings. The possible values are `SYSTEM_DEFAULT`, `DEFAULT`, `PARAMETER_EVENTS`, `SERVICES_DEFAULT`, `PARAMETERS`, `SENSOR_DATA` and are case-insensitive. These correspond to `rmw_qos_profile_system_default`, `rmw_qos_profile_default`, `rmw_qos_profile_parameter_events`, `rmw_qos_profile_services_default`, `rmw_qos_profile_parameters`, and `SENSOR_DATA`, respectively.
|
||||
* **`color.image_raw.enable_pub_plugins`**
|
||||
* Enable Color image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
|
||||
* **`depth.image_raw.enable_pub_plugins`**
|
||||
* Enable Depth image transport plugins. Default: `["image_transport/compressedDepth", "image_transport/raw"]`.
|
||||
* **`left_ir.image_raw.enable_pub_plugins`**
|
||||
* Enable Left IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
|
||||
* **`right_ir.image_raw.enable_pub_plugins`**
|
||||
* Enable Right IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
|
||||
* **`point_cloud_decimation_filter_factor`**
|
||||
* Point cloud downsampling factor. Range: `1–8`. `1` means no downsampling; larger values apply stronger decimation.
|
||||
* **`preset_resolution_config`**
|
||||
* Preset resolution configuration for the camera device. Format: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". Only supported on specific devices like Gemini2. Leave empty to disable.
|
||||
|
||||
### Sensor Controls
|
||||
|
||||
#### Color Stream
|
||||
* **`enable_color_auto_exposure`**
|
||||
* Enable the Color auto exposure.
|
||||
* **`enable_color_auto_exposure_priority`**
|
||||
* Enable the Color auto exposure priority.
|
||||
* **`color_exposure`**
|
||||
* Set the Color exposure.
|
||||
* **`color_gain`**
|
||||
* Set the Color gain.
|
||||
* **`enable_color_auto_white_balance`**
|
||||
* Enable the Color auto white balance.
|
||||
* **`color_white_balance`**
|
||||
* Set the Color white balance.
|
||||
* **`color_ae_max_exposure`**
|
||||
* Set the maximum exposure value for Color auto exposure.
|
||||
* **`color_brightness`**, **`color_sharpness`**, **`color_gamma`**, **`color_saturation`**, **`color_contrast`**, **`color_hue`**
|
||||
* Set the Color brightness, sharpness, gamma, saturation, contrast, and hue.
|
||||
* **`color_backlight_compensation`**
|
||||
* Enables the color camera’s backlight compensation feature. **Range**: `0–6`, **Default**: `3`.
|
||||
* **`color_powerline_freq`**
|
||||
* Set the power line freq. The possible values are `disable`, `50hz`, `60hz`, `auto`.
|
||||
* **`enable_color_decimation_filter`** / **`color_decimation_filter_scale`**
|
||||
* Enable the Color decimation filter and set its scale.
|
||||
* **`color_ae_roi_[left|right|top|bottom]`**
|
||||
* Set Color auto exposure ROI.
|
||||
* **`color_denoising_level`**
|
||||
* Enables the ISP denoising feature for Gemini 330 series devices. **Range:** `0–8`, **Default:** `0` (auto).
|
||||
|
||||
|
||||
#### Depth Stream
|
||||
* **`enable_depth_auto_exposure_priority`**
|
||||
|
||||
* Enable the Depth auto exposure priority.
|
||||
* **`mean_intensity_set_point`**
|
||||
* Set the target mean intensity of the Depth image. For example: `mean_intensity_set_point:=100`.
|
||||
> **Note:** This replaces the deprecated `depth_brightness`, which is still supported for backward compatibility.
|
||||
* **`enable_depth_scale`**
|
||||
* Enable the depth scale.
|
||||
* **`depth_precision`**
|
||||
* The depth precision should be in the format `1mm`. The default value is `1mm`.
|
||||
* **`depth_ae_roi_[left|right|top|bottom]`**
|
||||
* Set Depth auto exposure ROI.
|
||||
|
||||
#### IR Stream
|
||||
* **`enable_ir_auto_exposure`**
|
||||
* Enable the IR auto exposure.
|
||||
* **`ir_exposure`** / **`ir_gain`**
|
||||
* Set the IR exposure and gain.
|
||||
* **`ir_ae_max_exposure`**
|
||||
* Set the maximum exposure value for IR auto exposure.
|
||||
* **`ir_brightness`**
|
||||
* Set the IR brightness.
|
||||
|
||||
#### Laser / LDP
|
||||
* **`enable_laser`**
|
||||
* Enable the laser. The default value is `true`.
|
||||
* **`laser_energy_level`**
|
||||
* Set the laser energy level.
|
||||
* **`enable_ldp`** / **`ldp_power_level`**
|
||||
* Enable the LDP and set its power level.
|
||||
|
||||
### Device, Sync & Advanced Features
|
||||
|
||||
#### Multi-Camera Synchronization
|
||||
* **`sync_mode`**
|
||||
* Set sync mode. The default value is `standalone`.
|
||||
* **`depth_delay_us`** / **`color_delay_us`**
|
||||
* The delay time (microseconds) of the depth/color image capture after receiving the capture command or trigger signal.
|
||||
* **`trigger2image_delay_us`**
|
||||
* The delay time (microseconds) of the image capture after receiving the capture command or trigger signal. Us
|
||||
* **`trigger_out_delay_us`**
|
||||
* The delay time (microseconds) of the trigger signal output after receiving the capture command or trigger signal.
|
||||
* **`trigger_out_enabled`**
|
||||
* Enable the trigger out signal.
|
||||
* **`software_trigger_enabled`** / **`software_trigger_period`**
|
||||
* Enable the software trigger out signal / set the software trigger period in ms.
|
||||
* **`frames_per_trigger`**
|
||||
* The frame number of each stream after each trigger in triggering mode.
|
||||
|
||||
> Used for [multi camera synced](../5_advanced_guide/multi_camera/multi_camera_synced.md).
|
||||
|
||||
#### Network Cameras
|
||||
* **`enumerate_net_device`**
|
||||
* Enable automatically enumerate network devices.
|
||||
* **`net_device_ip`** / **`net_device_port`**
|
||||
* Set net device's IP address and port (Usually `8090`).
|
||||
* **`force_ip_enable`**
|
||||
* Enable the Force IP function. **Default:** `false`
|
||||
|
||||
* **`force_ip_mac`**
|
||||
* Target device MAC address when multiple cameras are connected (e.g., `"54:14:FD:06:07:DA"`). You can use the `list_devices_node` to find the MAC of each device. **Default:** `""`
|
||||
|
||||
* **`force_ip_address`**
|
||||
* Static IP address to assign. **Default:** `192.168.1.10`
|
||||
|
||||
* **`force_ip_subnet_mask`**
|
||||
* Subnet mask for the static IP. **Default:** `255.255.255.0`
|
||||
|
||||
* **`force_ip_gateway`**
|
||||
* Gateway address for the static IP. **Default:** `192.168.1.1`
|
||||
|
||||
> Used for [net camera](../5_advanced_guide/configuration/net_camera.md).
|
||||
|
||||
#### Device-Specific
|
||||
* **`device_preset`**
|
||||
* The default value is `Default`. Only the G330 series is supported. For more information, refer to the [G330 documentation](https://www.orbbec.com/docs/g330-use-depth-presets/). The value should be one of the preset names listed [in the table](../5_advanced_guide/configuration/predefined_presets.md).
|
||||
* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
|
||||
* Enable the gmsl trigger out signal / set gmsl trigger fps. Used for [gmsl camera](../5_advanced_guide/multi_camera/gmsl_camera.md).
|
||||
|
||||
|
||||
#### Disparity
|
||||
* **`disparity_to_depth_mode`**
|
||||
* `HW`: use hardware disparity to depth conversion. `SW`: use software disparity to depth conversion.
|
||||
* **`disparity_range_mode`**, **`disparity_search_offset`**, **`disparity_offset_config`**
|
||||
* Parameters for disparity search offset. Used for [disparity search offset](../5_advanced_guide/configuration/disparity_search_offset.md).
|
||||
|
||||
#### Interleave AE Mode
|
||||
* **`interleave_ae_mode`**
|
||||
* Set `laser` or `hdr` interleave.
|
||||
* **`interleave_frame_enable`**, **`interleave_skip_enable`**, **`interleave_skip_index`**
|
||||
* Parameters to control interleave frame mode.
|
||||
* **`[hdr|laser]_index[0|1]_[...]`**
|
||||
* In interleave frame mode, set the 0th and 1st frame parameters of hdr or laser interleaving frames.
|
||||
* *All interleave parameters are used for [interleave ae mode](../5_advanced_guide/configuration/interleave_ae_mode.md).*
|
||||
|
||||
#### Intra-Camera Synchronization
|
||||
|
||||
- **`depth_registration`**
|
||||
* Enable alignment of the depth frame to the color frame. This field is required when the `enable_colored_point_cloud` is set to `true`.
|
||||
- **`align_mode`**
|
||||
* The alignment mode to be used. Options are `HW` for hardware alignment and `SW` for software alignment.
|
||||
- **`align_target_stream`**
|
||||
* Set align target stream mode.
|
||||
* The possible values are `COLOR`, `DEPTH`.
|
||||
* `COLOR`: Align depth to color.
|
||||
* `DEPTH`: Align color to depth.
|
||||
- **`intra_camera_sync_reference`**
|
||||
- Sets the reference point for intra-camera synchronization. Applicable for Gemini 330 series devices when `sync_mode` is set to **software** or **hardware trigger** mode. **Options:** `Start`, `Middle`, `End`. When set to empty, the long baseline device defaults to End, and the short baseline device defaults to Middle.
|
||||
|
||||
### Basic & General Parameters
|
||||
|
||||
#### Firmware & Backend
|
||||
* **`upgrade_firmware`**
|
||||
* The input parameter is the firmware path.
|
||||
* **`preset_firmware_path`**
|
||||
* The input parameter is the preset firmware path. If multiple paths are input, each path needs to be separated by `,` and a maximum of 3 firmware paths can be input.
|
||||
* **`uvc_backend`**
|
||||
* Optional values: `v4l2`, `libuvc`.
|
||||
* **`connection_delay`**
|
||||
* The delay time in milliseconds for reopening the device. Some devices, such as Astra mini, require a longer time to initialize and reopening the device immediately can cause firmware crashes when hot plugging.
|
||||
* **`retry_on_usb3_detection_failure`**
|
||||
* If the camera is connected to a USB 2.0 port and is not detected, the system will attempt to reset the camera up to three times. It is recommended to set this parameter to `false` when using a USB 2.0 connection to avoid unnecessary resets.
|
||||
|
||||
#### TF, Extrinsics & Calibration
|
||||
* **`publish_tf`** / **`tf_publish_rate`**
|
||||
* Enable the TF publish and set its publication rate.
|
||||
* **`enable_publish_extrinsic`**
|
||||
* Enable the extrinsics publish.
|
||||
* **`ir_info_url`** / **`color_info_url`**
|
||||
* Set URL of the IR/color camera info.
|
||||
* **`enable_color_undistortion`**
|
||||
* Enable the Color undistortion.
|
||||
|
||||
#### Time Synchronization
|
||||
* **`enable_sync_host_time`**
|
||||
* Enable synchronization of the host time with the camera time. The default value is `true`. If using global time, set to `false`.
|
||||
* **`time_domain`**
|
||||
* Select timestamp type: `device`, `global`, and `system`.
|
||||
* **`time_sync_period`**
|
||||
|
||||
* Interval (in seconds) for synchronizing the camera time with the host system.
|
||||
> **Note**: This parameter only needs to be set when **`enable_sync_host_time = true`** and **`time_domain = device`**.
|
||||
* **`enable_ptp_config`**
|
||||
* Enable PTP time synchronization. Only for Gemini 335Le. Requires `enable_sync_host_time` to be `false`.
|
||||
* **`enable_frame_sync`**
|
||||
* Enable the frame synchronization.
|
||||
|
||||
#### Logging & Diagnostics
|
||||
* **`log_level`**
|
||||
* SDK log level. Default is `info`. Optional values: `debug`, `info`, `warn`, `error`, `fatal`.
|
||||
* **`log_file_name`**
|
||||
* Saved SDK log file name. Effective when `log_level` is `debug`.
|
||||
* **`diagnostic_period`**
|
||||
* Diagnostic period in seconds.
|
||||
* **`enable_heartbeat`**
|
||||
* Enable the heartbeat function. Default is `false`. If `true`, the camera node will send heartbeat signals to the firmware.
|
||||
|
||||
#### Miscellaneous
|
||||
* **`config_file_path`**
|
||||
* The path to the YAML configuration file. Default is `""`. If not specified, default parameters from the launch file will be used.
|
||||
* **`frame_aggregate_mode`**
|
||||
* Set frame aggregate output mode. Optional values: `full_frame`, `color_frame`, `ANY`, `disable`.
|
||||
* **`enable_d2c_viewer`**
|
||||
* Publishes the D2C overlay image (for testing only).
|
||||
|
||||
### IMU
|
||||
|
||||
* **`enable_accel`** / **`enable_gyro`**
|
||||
* Enable the Accelerometer/gyroscope and output its info topic data.
|
||||
* **`enable_sync_output_accel_gyro`**
|
||||
* Enable the sync `accel_gyro`, and output IMU topic real-time data.
|
||||
* **`accel_rate`** / **`gyro_rate`**
|
||||
* The frequency of the accelerometer/gyroscope. Values range from `1.5625hz` to `32khz`.
|
||||
* **`accel_range`** / **`gyro_range`**
|
||||
* The range of the accelerometer (`2g`, `4g`, `8g`, `16g`) and gyroscope (`16dps` to `2000dps`).
|
||||
* **`enable_accel_data_correction`** / **`enable_gyro_data_correction`**
|
||||
* Enable data correction for the accelerometer/gyroscope.
|
||||
* **`linear_accel_cov`** / **`angular_vel_cov`**
|
||||
* Covariance of the linear acceleration and angular velocity.
|
||||
|
||||
### Depth Filters
|
||||
|
||||
* **`enable_decimation_filter`**
|
||||
* Enable the Depth decimation filter. Set with `decimation_filter_scale`.
|
||||
* **`enable_hdr_merge`**
|
||||
* Enable the Depth hdr merge filter. Set with `hdr_merge_exposure_1`, etc.
|
||||
* **`enable_sequence_id_filter`**
|
||||
* Enable the Depth sequence id filter. Set with `sequence_id_filter_id`.
|
||||
* **`enable_threshold_filter`**
|
||||
* Enable the Depth threshold filter. Set with `threshold_filter_max`, `threshold_filter_min`.
|
||||
* **`enable_hardware_noise_removal_filter`**
|
||||
* Enable the Depth hardware noise removal filter.
|
||||
* **`enable_noise_removal_filter`**
|
||||
* Enable the Depth software noise removal filter. Set with `noise_removal_filter_min_diff`, etc.
|
||||
* **`enable_spatial_filter`**
|
||||
* Enable the Depth spatial filter. Set with `spatial_filter_alpha`, etc.
|
||||
* **`enable_temporal_filter`**
|
||||
* Enable the Depth temporal filter. Set with `temporal_filter_diff_threshold`, etc.
|
||||
* **`enable_hole_filling_filter`**
|
||||
* Enable the Depth hole filling filter. Set with `hole_filling_filter_mode`.
|
||||
* **`enable_spatial_fast_filter`**
|
||||
* Enable the Depth spatial fast filter. Set with `spatial_fast_filter_radius`.
|
||||
* **`enable_spatial_moderate_filter`**
|
||||
* Enable the Depth spatial moderate filter. Set with `spatial_moderate_filter_diff_threshold`, etc.
|
||||
|
||||
---
|
||||
|
||||
> **_IMPORTANT_**: Please carefully read the instructions regarding software filtering settings at [this link](https://www.orbbec.com/docs/g330-use-depth-post-processing-blocks/). If you are uncertain, do not modify these settings.
|
||||
@@ -0,0 +1,53 @@
|
||||
## Enabling and Visualizing Point Cloud in ROS 2
|
||||
|
||||
This section demonstrates how to enable point cloud data output from the camera node and visualize it using RViz2.
|
||||
|
||||
### Enabling Depth Point Cloud
|
||||
|
||||
#### Command to Enable Depth Point Cloud
|
||||
|
||||
To activate the point cloud data stream for depth information, use the following command:
|
||||
|
||||
```bash
|
||||
ros2 launch orbbec_camera gemini_330_series.launch.py enable_point_cloud:=true
|
||||
```
|
||||
|
||||
#### Visualizing Depth Point Cloud in RViz2
|
||||
|
||||
After running the above command, perform the following steps to visualize the depth point cloud:
|
||||
|
||||
1. Open RViz2.
|
||||
2. Add a `PointCloud2` display.
|
||||
3. Select the `/camera/depth/points` topic for visualization.
|
||||
4. Set the fixed frame to `camera_link` to properly align the data.
|
||||
|
||||
- **Example Visualization**
|
||||
|
||||
Here is what the depth point cloud might look like in RViz2:
|
||||
|
||||
|
||||
|
||||
### Enabling Colored Point Cloud
|
||||
|
||||
#### Command to Enable Colored Point Cloud
|
||||
|
||||
To enable the colored point cloud feature, enter the following command:
|
||||
|
||||
```bash
|
||||
ros2 launch orbbec_camera gemini_330_series.launch.py enable_colored_point_cloud:=true
|
||||
```
|
||||
|
||||
#### Visualizing Colored Point Cloud in RViz2
|
||||
|
||||
To visualize the colored point cloud data:
|
||||
|
||||
1. Launch RViz2 following the command execution.
|
||||
2. Add a `PointCloud2` display panel.
|
||||
3. Choose the `/camera/depth_registered/points` topic from the list.
|
||||
4. Ensure the fixed frame is set to `camera_link`.
|
||||
|
||||
- **Example Visualization**
|
||||
|
||||
The result of the colored point cloud in RViz2 should look similar to this:
|
||||
|
||||
|
||||
@@ -0,0 +1,268 @@
|
||||
# All available services for camera control
|
||||
|
||||
> **Note:** Services related to a specific stream (e.g., `/camera/set_color_*`) are only available if that stream is enabled in the launch file (e.g., `enable_color:=true`).
|
||||
|
||||
### Stream Control
|
||||
|
||||
#### Color Stream
|
||||
* `/camera/toggle_color`
|
||||
```bash
|
||||
ros2 service call /camera/toggle_color std_srvs/srv/SetBool '{data: true}'
|
||||
```
|
||||
* `/camera/get_color_exposure` & `/camera/get_color_gain`
|
||||
```bash
|
||||
ros2 service call /camera/get_color_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
|
||||
ros2 service call /camera/get_color_gain orbbec_camera_msgs/srv/GetInt32 '{}'
|
||||
```
|
||||
* `/camera/set_color_auto_exposure`
|
||||
```bash
|
||||
ros2 service call /camera/set_color_auto_exposure std_srvs/srv/SetBool '{data: true}'
|
||||
```
|
||||
* `/camera/set_color_exposure` & `/camera/set_color_gain`
|
||||
```bash
|
||||
ros2 service call /camera/set_color_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 1}'
|
||||
ros2 service call /camera/set_color_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'
|
||||
```
|
||||
* `/camera/set_color_mirror`, `/camera/set_color_flip`, `/camera/set_color_rotation`
|
||||
```bash
|
||||
ros2 service call /camera/set_color_mirror std_srvs/srv/SetBool '{data: true}'
|
||||
ros2 service call /camera/set_color_flip std_srvs/srv/SetBool '{data: true}'
|
||||
ros2 service call /camera/set_color_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'
|
||||
```
|
||||
* `/camera/set_color_ae_roi`
|
||||
```bash
|
||||
# data_param: [Left, Right, Top, Bottom]
|
||||
ros2 service call /camera/set_color_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,1279,0,719]}'
|
||||
```
|
||||
|
||||
#### Depth Stream
|
||||
* `/camera/toggle_depth`
|
||||
```bash
|
||||
ros2 service call /camera/toggle_depth std_srvs/srv/SetBool '{data: true}'
|
||||
```
|
||||
* `/camera/get_depth_exposure` & `/camera/get_depth_gain`
|
||||
```bash
|
||||
ros2 service call /camera/get_depth_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
|
||||
ros2 service call /camera/get_depth_gain orbbec_camera_msgs/srv/GetInt32 '{}'
|
||||
```
|
||||
* `/camera/set_depth_auto_exposure`
|
||||
```bash
|
||||
ros2 service call /camera/set_depth_auto_exposure std_srvs/srv/SetBool '{data: true}'
|
||||
```
|
||||
* `/camera/set_depth_exposure` & `/camera/set_depth_gain`
|
||||
```bash
|
||||
ros2 service call /camera/set_depth_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
|
||||
ros2 service call /camera/set_depth_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'
|
||||
```
|
||||
* `/camera/set_depth_mirror`, `/camera/set_depth_flip`, `/camera/set_depth_rotation`
|
||||
```bash
|
||||
ros2 service call /camera/set_depth_mirror std_srvs/srv/SetBool '{data: true}'
|
||||
ros2 service call /camera/set_depth_flip std_srvs/srv/SetBool '{data: true}'
|
||||
ros2 service call /camera/set_depth_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'
|
||||
```
|
||||
* `/camera/set_depth_ae_roi`
|
||||
```bash
|
||||
# data_param: [Left, Right, Top, Bottom]
|
||||
ros2 service call /camera/set_depth_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,847,0,479]}'
|
||||
```
|
||||
|
||||
#### IR Stream
|
||||
* `/camera/toggle_ir`
|
||||
|
||||
```bash
|
||||
ros2 service call /camera/toggle_ir std_srvs/srv/SetBool '{data: true}'
|
||||
```
|
||||
* `/camera/get_ir_exposure` & `/camera/get_ir_gain`
|
||||
```bash
|
||||
ros2 service call /camera/get_ir_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
|
||||
ros2 service call /camera/get_ir_gain orbbec_camera_msgs/srv/GetInt32 '{}'
|
||||
```
|
||||
* `/camera/set_ir_long_exposure`
|
||||
```bash
|
||||
ros2 service call /camera/set_ir_long_exposure std_srvs/srv/SetBool '{data: true}'
|
||||
```
|
||||
* `/camera/set_ir_auto_exposure`
|
||||
```bash
|
||||
ros2 service call /camera/set_ir_auto_exposure std_srvs/srv/SetBool '{data: true}'
|
||||
```
|
||||
* `/camera/set_ir_exposure` & `/camera/set_ir_gain`
|
||||
```bash
|
||||
ros2 service call /camera/set_ir_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
|
||||
ros2 service call /camera/set_ir_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'
|
||||
```
|
||||
* `/camera/set_ir_mirror`, `/camera/set_ir_flip`, `/camera/set_ir_rotation`
|
||||
```bash
|
||||
ros2 service call /camera/set_ir_mirror std_srvs/srv/SetBool '{data: true}'
|
||||
ros2 service call /camera/set_ir_flip std_srvs/srv/SetBool '{data: true}'
|
||||
ros2 service call /camera/set_ir_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'
|
||||
```
|
||||
* `/camera/switch_ir`
|
||||
```bash
|
||||
ros2 service call /camera/switch_ir orbbec_camera_msgs/srv/SetString '{data: left}'
|
||||
```
|
||||
|
||||
#### All Streams
|
||||
* `/camera/get_streams_enable` & `/camera/set_streams_enable`
|
||||
```bash
|
||||
ros2 service call /camera/get_streams_enable orbbec_camera_msgs/srv/GetBool '{}'
|
||||
ros2 service call /camera/set_streams_enable std_srvs/srv/SetBool '{data: false}'
|
||||
```
|
||||
|
||||
### Sensor & Emitter Control
|
||||
|
||||
* `/camera/set_auto_white_balance` & `/camera/get_auto_white_balance`
|
||||
```bash
|
||||
ros2 service call /camera/set_auto_white_balance std_srvs/srv/SetBool '{data: true}'
|
||||
ros2 service call /camera/get_auto_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'
|
||||
```
|
||||
* `/camera/set_white_balance` & `/camera/get_white_balance`
|
||||
```bash
|
||||
ros2 service call /camera/set_white_balance orbbec_camera_msgs/srv/SetInt32 '{data: 2800}'
|
||||
ros2 service call /camera/get_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'
|
||||
```
|
||||
* `/camera/set_laser_enable`
|
||||
```bash
|
||||
ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'
|
||||
```
|
||||
`/camera/get_laser_status`
|
||||
```bash
|
||||
ros2 service call /camera/get_laser_status orbbec_camera_msgs/srv/GetBool '{}'
|
||||
```
|
||||
* `/camera/set_ldp_enable` & `/camera/get_ldp_status`
|
||||
```bash
|
||||
ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'
|
||||
ros2 service call /camera/get_ldp_status orbbec_camera_msgs/srv/GetBool '{}'
|
||||
```
|
||||
* `/camera/set_ptp_config` & `/camera/get_ptp_config`
|
||||
```bash
|
||||
ros2 service call /camera/set_ptp_config std_srvs/srv/SetBool '{data: true}'
|
||||
ros2 service call /camera/get_ptp_config orbbec_camera_msgs/srv/GetBool '{}'
|
||||
```
|
||||
* `/camera/get_lrm_measure_distance`
|
||||
```bash
|
||||
ros2 service call /camera/get_lrm_measure_distance orbbec_camera_msgs/srv/GetInt32 '{}'
|
||||
```
|
||||
* `/camera/set_fan_work_mode`
|
||||
```bash
|
||||
ros2 service call /camera/set_fan_work_mode orbbec_camera_msgs/srv/SetInt32 '{data: 0}'
|
||||
```
|
||||
* `/camera/set_floor_enable`
|
||||
```bash
|
||||
ros2 service call /camera/set_floor_enable std_srvs/srv/SetBool '{data: true}'
|
||||
```
|
||||
|
||||
### Device Information & Management
|
||||
|
||||
* `/camera/get_device_info`
|
||||
```bash
|
||||
ros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo
|
||||
```
|
||||
* `/camera/get_sdk_version`
|
||||
```bash
|
||||
ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString
|
||||
```
|
||||
* `/camera/reboot_device`
|
||||
```bash
|
||||
ros2 service call /camera/reboot_device std_srvs/srv/Empty '{}'
|
||||
```
|
||||
|
||||
### Synchronization & Triggering
|
||||
|
||||
* `/camera/send_software_trigger`
|
||||
```bash
|
||||
ros2 service call /camera/send_software_trigger std_srvs/srv/SetBool '{data: true}'
|
||||
```
|
||||
* `/camera/set_sync_hosttime`
|
||||
```bash
|
||||
ros2 service call /camera/set_sync_hosttime std_srvs/srv/SetBool '{data: true}'
|
||||
```
|
||||
* `/camera/set_reset_timestamp`
|
||||
```bash
|
||||
# Only available when time_domain param is set to device
|
||||
ros2 service call /camera/set_reset_timestamp std_srvs/srv/SetBool '{data: true}'
|
||||
```
|
||||
* `/camera/set_sync_interleaverlaser`
|
||||
```bash
|
||||
# Only available if interleave_ae_mode is 'laser' and interleave_frame_enable is true
|
||||
ros2 service call /camera/set_sync_interleaverlaser orbbec_camera_msgs/srv/SetInt32 '{data: 0}'
|
||||
```
|
||||
|
||||
### Depth Filter Configuration
|
||||
|
||||
* `/camera/set_filter`
|
||||
```bash
|
||||
# Set DecimationFilter
|
||||
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: DecimationFilter, filter_enable: false, filter_param: [5]}'
|
||||
|
||||
# Set SpatialAdvancedFilter
|
||||
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialAdvancedFilter, filter_enable: true, filter_param: [0.5,160,1,8]}'
|
||||
|
||||
# Set SequenceIdFilter
|
||||
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SequenceIdFilter, filter_enable: true, filter_param: [1]}'
|
||||
|
||||
# Set ThresholdFilter
|
||||
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: ThresholdFilter, filter_enable: true, filter_param: [0,15999]}'
|
||||
|
||||
# Set NoiseRemovalFilter
|
||||
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: NoiseRemovalFilter, filter_enable: true, filter_param: [256,80]}'
|
||||
|
||||
# Set HardwareNoiseRemoval
|
||||
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: HardwareNoiseRemoval, filter_enable: true, filter_param: []}'
|
||||
|
||||
# Set SpatialFastFilter
|
||||
# filter_param: [radius]
|
||||
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialFastFilter, filter_enable: true, filter_param: [4]}'
|
||||
|
||||
# Set SpatialModerateFilter
|
||||
# filter_param: [disp_diff, magnitude, radius]
|
||||
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialModerateFilter, filter_enable: true, filter_param: [160,1,3]}'
|
||||
```
|
||||
|
||||
### Data Capture & Calibration Management
|
||||
|
||||
* `/camera/save_images`
|
||||
```bash
|
||||
ros2 service call /camera/save_images std_srvs/srv/Empty '{}'
|
||||
```
|
||||
* `/camera/save_point_cloud`
|
||||
```bash
|
||||
ros2 service call /camera/save_point_cloud std_srvs/srv/Empty '{}'
|
||||
```
|
||||
|
||||
> **Note**: The following services are currently supported only on the 435Le module. Each service can store only one set of data or string at a time.
|
||||
|
||||
* `/camera/write_customer_data` & `/camera/read_customer_data`
|
||||
```bash
|
||||
ros2 service call /camera/write_customer_data orbbec_camera_msgs/srv/SetString '{data: "string"}'
|
||||
ros2 service call /camera/read_customer_data orbbec_camera_msgs/srv/GetString '{}'
|
||||
```
|
||||
* `/camera/set_user_calib_params` & `/camera/get_user_calib_params`
|
||||
```bash
|
||||
ros2 service call /camera/set_user_calib_params orbbec_camera_msgs/srv/SetUserCalibParams \
|
||||
'{k: [614.9613647460938, 0.0, 634.91552734375,
|
||||
0.0, 614.65771484375, 391.407470703125,
|
||||
0.0, 0.0, 1.0],
|
||||
d: [-0.03131488710641861,
|
||||
0.032955970615148544,
|
||||
9.096559369936585e-05,
|
||||
-0.0003368517500348389,
|
||||
-0.01115430984646082,
|
||||
0.0, 0.0, 0.0],
|
||||
rotation: [0.9999880790710449, 0.0003024190664291382, -0.004874417092651129,
|
||||
-0.0002965621242765337, 0.9999992251396179, 0.001202247804030776,
|
||||
0.004874777048826218, -0.0012007878394797444, 0.9999874234199524],
|
||||
translation: [-0.023897956848144532,
|
||||
-9.439220279455185e-05,
|
||||
-6.804073229432106e-06]}'
|
||||
ros2 service call /camera/get_user_calib_params orbbec_camera_msgs/srv/GetUserCalibParams '{}'
|
||||
```
|
||||
|
||||
### Point cloud decimation
|
||||
* `/camera/set_point_cloud_decimation`
|
||||
```bash
|
||||
ros2 service call /camera/set_point_cloud_decimation orbbec_camera_msgs/srv/SetInt32 '{data: 8}'
|
||||
```
|
||||
* `/camera/get_point_cloud_decimation`
|
||||
```bash
|
||||
ros2 service call /camera/get_point_cloud_decimation orbbec_camera_msgs/srv/GetInt32 '{}'
|
||||
```
|
||||
@@ -0,0 +1,67 @@
|
||||
# Available Topics
|
||||
|
||||
Topics are organized by stream and function. By default, all topics are published under the `/camera` namespace, which can be changed with the `camera_name` launch parameter.
|
||||
|
||||
> **Note:** Topics for a specific stream (e.g., `/camera/color/...`) are only published if their corresponding launch parameter (e.g., `enable_color`) is set to `true`.
|
||||
|
||||
### Image Streams
|
||||
|
||||
These topics provide the raw image data and corresponding calibration information for each enabled camera stream. The pattern is consistent for `color`, `depth`, `ir`, `left_ir`, and `right_ir` streams.
|
||||
|
||||
* `/camera/color/image_raw`
|
||||
* Raw image data from the color stream.
|
||||
* `/camera/color/camera_info`
|
||||
* Camera calibration data and metadata for the color stream.
|
||||
* `/camera/color/metadata`
|
||||
* Low-level metadata from the color stream firmware.
|
||||
|
||||
* `/camera/depth/image_raw`
|
||||
* Raw image data from the depth stream.
|
||||
* `/camera/depth/camera_info`
|
||||
* Camera calibration data and metadata for the depth stream.
|
||||
* `/camera/depth/metadata`
|
||||
* Low-level metadata from the depth stream firmware.
|
||||
|
||||
* `/camera/ir/image_raw`
|
||||
* Raw image data from the infrared (IR) stream.
|
||||
* `/camera/ir/camera_info`
|
||||
* Camera calibration data and metadata for the IR stream.
|
||||
* `/camera/ir/metadata`
|
||||
* Low-level metadata from the IR stream firmware.
|
||||
|
||||
### Point Cloud Topics
|
||||
|
||||
* `/camera/depth/points`
|
||||
* Point cloud data generated from the depth stream.
|
||||
* **Condition:** Published only when `enable_point_cloud` is `true`.
|
||||
|
||||
* `/camera/depth_registered/points`
|
||||
* Colored point cloud data, where the depth points are registered to the color image frame.
|
||||
* **Condition:** Published only when `enable_colored_point_cloud` is `true`.
|
||||
|
||||
### IMU Topics
|
||||
|
||||
The Inertial Measurement Unit (IMU) topics provide accelerometer and gyroscope data. Their behavior depends on the synchronization setting.
|
||||
|
||||
* `/camera/accel/sample`
|
||||
* Individual accelerometer data stream.
|
||||
* **Condition:** Published when `enable_accel` is `true` AND `enable_sync_output_accel_gyro` is `false`.
|
||||
|
||||
* `/camera/gyro/sample`
|
||||
* Individual gyroscope data stream.
|
||||
* **Condition:** Published when `enable_gyro` is `true` AND `enable_sync_output_accel_gyro` is `false`.
|
||||
|
||||
* `/camera/gyro_accel/sample`
|
||||
* Synchronized data stream containing both accelerometer and gyroscope data in a single message.
|
||||
* **Condition:** Published when `enable_sync_output_accel_gyro` is `true`.
|
||||
|
||||
### Device Status & Diagnostics
|
||||
|
||||
* `/camera/device_status`
|
||||
* Reports the current status of the camera device.
|
||||
|
||||
* `/camera/depth_filter_status`
|
||||
* Reports the status of the depth sensor's post-processing filters.
|
||||
|
||||
* `/diagnostics`
|
||||
* Publishes diagnostic information about the camera node. Currently, this includes the device temperature.
|
||||
Reference in New Issue
Block a user