mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-07 13:37:44 +08:00
156 lines
6.6 KiB
C++
156 lines
6.6 KiB
C++
/*******************************************************************************
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* Copyright (c) 2023 Orbbec 3D Technology, Inc
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*******************************************************************************/
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#pragma once
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#include <string>
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#include <cstdlib>
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#include <cstdint>
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#define THREAD_NUM 4
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#define OB_ROS_MAJOR_VERSION 2
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#define OB_ROS_MINOR_VERSION 8
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#define OB_ROS_PATCH_VERSION 7
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#ifndef STRINGIFY
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#define STRINGIFY(arg) #arg
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#endif
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#ifndef VAR_ARG_STRING
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#define VAR_ARG_STRING(arg) STRINGIFY(arg)
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#endif
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#define STRINGIFY(arg) #arg
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#define VAR_ARG_STRING(arg) STRINGIFY(arg)
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/* Return version in "X.Y.Z" format */
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#define OB_ROS_VERSION_STR \
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(VAR_ARG_STRING(OB_ROS_MAJOR_VERSION.OB_ROS_MINOR_VERSION.OB_ROS_PATCH_VERSION))
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namespace orbbec_camera {
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const bool ALIGN_DEPTH = false;
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const bool POINTCLOUD = false;
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const bool ALLOW_NO_TEXTURE_POINTS = false;
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const bool SYNC_FRAMES = false;
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const bool ORDERED_POINTCLOUD = false;
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const bool PUBLISH_TF = true;
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const double TF_PUBLISH_RATE = 0; // Static transform
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const double DIAGNOSTICS_PERIOD = 0; // Static transform
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const int IMAGE_WIDTH = 640;
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const int IMAGE_HEIGHT = 480;
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const int IMAGE_FPS = 30;
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const std::string IMAGE_QOS = "SYSTEM_DEFAULT";
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const std::string DEFAULT_QOS = "DEFAULT";
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const std::string HID_QOS = "HID_DEFAULT";
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const std::string EXTRINSICS_QOS = "EXTRINSICS_DEFAULT";
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const double IMU_FPS = 0;
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const bool ENABLE_DEPTH = true;
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const bool ENABLE_INFRA1 = true;
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const bool ENABLE_INFRA2 = true;
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const bool ENABLE_COLOR = true;
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const bool ENABLE_FISHEYE = true;
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const bool ENABLE_IMU = true;
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const bool HOLD_BACK_IMU_FOR_FRAMES = false;
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const bool PUBLISH_ODOM_TF = true;
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const std::string DEFAULT_BASE_FRAME_ID = "camera_link";
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const std::string DEFAULT_ODOM_FRAME_ID = "odom_frame";
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const std::string DEFAULT_DEPTH_FRAME_ID = "camera_depth_frame";
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const std::string DEFAULT_INFRA1_FRAME_ID = "camera_infra1_frame";
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const std::string DEFAULT_INFRA2_FRAME_ID = "camera_infra2_frame";
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const std::string DEFAULT_COLOR_FRAME_ID = "camera_color_frame";
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const std::string DEFAULT_FISHEYE_FRAME_ID = "camera_fisheye_frame";
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const std::string DEFAULT_IMU_FRAME_ID = "camera_imu_frame";
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const std::string DEFAULT_DEPTH_OPTICAL_FRAME_ID = "camera_depth_optical_frame";
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const std::string DEFAULT_INFRA1_OPTICAL_FRAME_ID = "camera_infra1_optical_frame";
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const std::string DEFAULT_INFRA2_OPTICAL_FRAME_ID = "camera_infra2_optical_frame";
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const std::string DEFAULT_COLOR_OPTICAL_FRAME_ID = "camera_color_optical_frame";
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const std::string DEFAULT_FISHEYE_OPTICAL_FRAME_ID = "camera_fisheye_optical_frame";
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const std::string DEFAULT_ACCEL_OPTICAL_FRAME_ID = "camera_accel_optical_frame";
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const std::string DEFAULT_GYRO_OPTICAL_FRAME_ID = "camera_gyro_optical_frame";
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const std::string DEFAULT_IMU_OPTICAL_FRAME_ID = "camera_imu_optical_frame";
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const std::string DEFAULT_ALIGNED_DEPTH_TO_COLOR_FRAME_ID = "camera_aligned_depth_to_color_frame";
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const std::string DEFAULT_ALIGNED_DEPTH_TO_INFRA1_FRAME_ID = "camera_aligned_depth_to_infra1_frame";
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const std::string DEFAULT_ALIGNED_DEPTH_TO_INFRA2_FRAME_ID = "camera_aligned_depth_to_infra2_frame";
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const std::string DEFAULT_ALIGNED_DEPTH_TO_FISHEYE_FRAME_ID =
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"camera_aligned_depth_to_fisheye_frame";
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const std::string DEFAULT_UNITE_IMU_METHOD = "";
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const std::string DEFAULT_FILTERS = "";
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const std::string DEFAULT_TOPIC_ODOM_IN = "";
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const std::string DEFAULT_D2C_MODE = "sw"; // sw = software mode, hw=hardware mode, none,
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const float ROS_DEPTH_SCALE = 0.001;
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const int32_t FEMTO_OW_PID = 0x0638;
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const int32_t FEMTO_BOLT_PID = 0x066b;
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const int32_t FEMTO_LIVE_PID = 0x0668;
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const uint32_t FEMTO_MEGA_PID = 0x0669;
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const int32_t FEMTO_PID = 0x0635;
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const int32_t ASTRA_PLUS_PID = 0x0636;
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const int32_t ASTRA_PLUS_S_PID = 0x0637;
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const int32_t OPENNI_START_PID = 0x0601;
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const int32_t OPENNI_END_PID = 0x06FF;
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const int32_t ASTRA_MINI_PID = 0x0404;
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const int32_t ASTRA_MINI_S_PID = 0x0407;
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const int GEMINI2_PID = 0x0670;
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const int GEMINI2L_PID = 0x0673;
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const int GEMINI2R_PID = 0x06d0;
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const int GEMINI2RL_PID = 0x06d1;
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const int GEMINI2R_PID2 = 0x0800;
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const int GEMINI2RL_PID2 = 0x0804;
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const std::string ORB_DEFAULT_LOCK_NAME = "orbbec_device_lock";
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const int32_t GEMINI_335_PID = 0x0800; // Gemini 335 / 335e
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const int32_t GEMINI_330_PID = 0x0801; // Gemini 330
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const int32_t GEMINI_336_PID = 0x0803; // Gemini 336 / 336e
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const int32_t GEMINI_335L_PID = 0x0804; // Gemini 335L
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const int32_t GEMINI_330L_PID = 0x0805; // Gemini 336L
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const int32_t GEMINI_336L_PID = 0x0807; // Gemini 335Lg
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const int32_t GEMINI_335LG_PID = 0x080B; // Gemini 336Lg
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const int32_t GEMINI_336LG_PID = 0x080D;
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const int32_t GEMINI_335LE_PID = 0x080E; // Gemini 335Le
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const int32_t GEMINI_336LE_PID = 0x0810; // Gemini 335Le
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const int32_t CUSTOM_ADVANTECH_GEMINI_336_PID = 0x0816; // Custom Advantech Gemini 336
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const int32_t CUSTOM_ADVANTECH_GEMINI_336L_PID = 0x0817; // Custom Advantech Gemini 336L
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const int32_t DABAI_MAX_PID = 0x069a; // dabai max
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const int32_t DABAI_A_PID = 0x0A12; // DaBai A
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const int32_t DABAI_AL_PID = 0x0A13; // DaBai AL
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const int32_t GEMINI_345_PID = 0x0812; // Gemini 345
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const int32_t GEMINI_345LG_PID = 0x0813; // Gemini 345Lg
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const int32_t GEMINI_338_PID = 0x0818; // Gemini 338
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const int32_t GEMINI_435Le_PID = 0x815; // Gemini 435Le
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const int32_t GEMINI_305_PID = 0x0840; // Gemini 305
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const int32_t GEMINI_305_PID2 = 0x0841; // Gemini 305
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const int32_t GEMINI_305G_PID = 0x0842; // Gemini 305g
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const int32_t GEMINI_338LG_PID = 0x081A; // Gemini 338Lg
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const int32_t GEMINI_338LE_PID = 0x081B; // Gemini 338Le
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const int32_t GEMINI_338L_PID = 0x081C; // Gemini 338L
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const int32_t GEMINI_331L_PID = 0x081D; // Gemini 331L
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inline bool isGemini305SeriesPID(uint32_t pid) {
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return pid == GEMINI_305_PID || pid == GEMINI_305_PID2 || pid == GEMINI_305G_PID;
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}
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} // namespace orbbec_camera
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