mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-08 05:47:45 +08:00
Joe Dong
4007e9fbdb
This commit updates the OBCameraNode class to include new properties for color and IR camera settings. Specifically, it adds support for setting the color brightness, color AE max exposure, IR brightness, and IR AE max exposure. These settings can now be configured through the launch file and applied to the camera device.
221 lines
12 KiB
Python
221 lines
12 KiB
Python
import os
|
|
import yaml
|
|
from launch import LaunchDescription
|
|
from launch.actions import DeclareLaunchArgument, OpaqueFunction, GroupAction
|
|
from launch.substitutions import LaunchConfiguration
|
|
from launch_ros.actions import PushRosNamespace, ComposableNodeContainer, Node
|
|
from launch_ros.descriptions import ComposableNode
|
|
|
|
|
|
def load_yaml(file_path):
|
|
with open(file_path, 'r') as f:
|
|
return yaml.safe_load(f)
|
|
|
|
|
|
def merge_params(default_params, yaml_params):
|
|
for key, value in yaml_params.items():
|
|
if key in default_params:
|
|
default_params[key] = value
|
|
return default_params
|
|
|
|
|
|
def convert_value(value):
|
|
if isinstance(value, str):
|
|
try:
|
|
return int(value)
|
|
except ValueError:
|
|
pass
|
|
try:
|
|
return float(value)
|
|
except ValueError:
|
|
pass
|
|
if value.lower() == 'true':
|
|
return True
|
|
elif value.lower() == 'false':
|
|
return False
|
|
return value
|
|
|
|
|
|
def load_parameters(context, args):
|
|
default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
|
|
config_file_path = LaunchConfiguration('config_file_path').perform(context)
|
|
if config_file_path:
|
|
yaml_params = load_yaml(config_file_path)
|
|
default_params = merge_params(default_params, yaml_params)
|
|
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
|
|
return {
|
|
key: (value if key in skip_convert else convert_value(value))
|
|
for key, value in default_params.items()
|
|
}
|
|
|
|
|
|
def generate_launch_description():
|
|
args = [
|
|
DeclareLaunchArgument('camera_name', default_value='camera'),
|
|
DeclareLaunchArgument('depth_registration', default_value='true'),
|
|
DeclareLaunchArgument('serial_number', default_value=''),
|
|
DeclareLaunchArgument('usb_port', default_value=''),
|
|
DeclareLaunchArgument('device_num', default_value='1'),
|
|
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
|
|
DeclareLaunchArgument('enable_point_cloud', default_value='false'),
|
|
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
|
|
DeclareLaunchArgument('cloud_frame_id', default_value=''),
|
|
DeclareLaunchArgument('connection_delay', default_value='10'),
|
|
DeclareLaunchArgument('color_width', default_value='0'),
|
|
DeclareLaunchArgument('color_height', default_value='0'),
|
|
DeclareLaunchArgument('color_fps', default_value='0'),
|
|
DeclareLaunchArgument('color_format', default_value='ANY'),
|
|
DeclareLaunchArgument('enable_color', default_value='true'),
|
|
DeclareLaunchArgument('color_qos', default_value='default'),
|
|
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
|
|
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
|
|
DeclareLaunchArgument('color_exposure', default_value='-1'),
|
|
DeclareLaunchArgument('color_gain', default_value='-1'),
|
|
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
|
|
DeclareLaunchArgument('color_white_balance', default_value='-1'),
|
|
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
|
|
DeclareLaunchArgument('color_brightness', default_value='-1'),
|
|
DeclareLaunchArgument('depth_width', default_value='0'),
|
|
DeclareLaunchArgument('depth_height', default_value='0'),
|
|
DeclareLaunchArgument('depth_fps', default_value='0'),
|
|
DeclareLaunchArgument('depth_format', default_value='ANY'),
|
|
DeclareLaunchArgument('enable_depth', default_value='true'),
|
|
DeclareLaunchArgument('depth_qos', default_value='default'),
|
|
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
|
|
DeclareLaunchArgument('left_ir_width', default_value='0'),
|
|
DeclareLaunchArgument('left_ir_height', default_value='0'),
|
|
DeclareLaunchArgument('left_ir_fps', default_value='0'),
|
|
DeclareLaunchArgument('left_ir_format', default_value='ANY'),
|
|
DeclareLaunchArgument('enable_left_ir', default_value='false'),
|
|
DeclareLaunchArgument('left_ir_qos', default_value='default'),
|
|
DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
|
|
DeclareLaunchArgument('right_ir_width', default_value='0'),
|
|
DeclareLaunchArgument('right_ir_height', default_value='0'),
|
|
DeclareLaunchArgument('right_ir_fps', default_value='0'),
|
|
DeclareLaunchArgument('right_ir_format', default_value='ANY'),
|
|
DeclareLaunchArgument('enable_right_ir', default_value='false'),
|
|
DeclareLaunchArgument('right_ir_qos', default_value='default'),
|
|
DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
|
|
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
|
|
DeclareLaunchArgument('ir_exposure', default_value='-1'),
|
|
DeclareLaunchArgument('ir_gain', default_value='-1'),
|
|
DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
|
|
DeclareLaunchArgument('ir_brightness', default_value='-1'),
|
|
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
|
|
DeclareLaunchArgument('enable_accel', default_value='false'),
|
|
DeclareLaunchArgument('accel_rate', default_value='200hz'),
|
|
DeclareLaunchArgument('accel_range', default_value='4g'),
|
|
DeclareLaunchArgument('enable_gyro', default_value='false'),
|
|
DeclareLaunchArgument('gyro_rate', default_value='200hz'),
|
|
DeclareLaunchArgument('gyro_range', default_value='1000dps'),
|
|
DeclareLaunchArgument('liner_accel_cov', default_value='0.01'),
|
|
DeclareLaunchArgument('angular_vel_cov', default_value='0.01'),
|
|
DeclareLaunchArgument('publish_tf', default_value='true'),
|
|
DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
|
|
DeclareLaunchArgument('ir_info_url', default_value=''),
|
|
DeclareLaunchArgument('color_info_url', default_value=''),
|
|
DeclareLaunchArgument('log_level', default_value='none'),
|
|
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
|
|
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
|
|
DeclareLaunchArgument('enable_ldp', default_value='true'),
|
|
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
|
|
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
|
|
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
|
|
DeclareLaunchArgument('sync_mode', default_value='standalone'),
|
|
DeclareLaunchArgument('depth_delay_us', default_value='0'),
|
|
DeclareLaunchArgument('color_delay_us', default_value='0'),
|
|
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
|
|
DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
|
|
DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
|
|
DeclareLaunchArgument('frames_per_trigger', default_value='2'),
|
|
DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms
|
|
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
|
|
DeclareLaunchArgument('ordered_pc', default_value='false'),
|
|
DeclareLaunchArgument('use_hardware_time', default_value='true'),
|
|
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
|
|
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
|
|
DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
|
|
DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
|
|
DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
|
|
DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
|
|
DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
|
|
DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
|
|
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
|
|
DeclareLaunchArgument('decimation_filter_scale_', default_value='-1'),
|
|
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
|
|
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
|
|
DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
|
|
DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
|
|
DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'),
|
|
DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'),
|
|
DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'),
|
|
DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'),
|
|
DeclareLaunchArgument('spatial_filter_radius', default_value='-1'),
|
|
DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'),
|
|
DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'),
|
|
DeclareLaunchArgument('hole_filling_filter_mode', default_value=''),
|
|
DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'),
|
|
DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'),
|
|
DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'),
|
|
DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
|
|
DeclareLaunchArgument('align_mode', default_value='SW'),
|
|
DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
|
|
DeclareLaunchArgument('enable_laser', default_value='true'),
|
|
DeclareLaunchArgument('depth_precision', default_value=''),
|
|
DeclareLaunchArgument('device_preset', default_value='Default'),
|
|
DeclareLaunchArgument('laser_on_off_mode', default_value='0'),
|
|
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
|
|
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
|
|
DeclareLaunchArgument('enable_3d_reconstruction_mode', default_value='false'),
|
|
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
|
|
DeclareLaunchArgument('time_domain', default_value='device'),
|
|
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
|
|
DeclareLaunchArgument('config_file_path', default_value=''),
|
|
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
|
|
]
|
|
|
|
def get_params(context, args):
|
|
return [load_parameters(context, args)]
|
|
|
|
def create_node_action(context, args):
|
|
params = get_params(context, args)
|
|
ros_distro = os.environ.get("ROS_DISTRO", "humble")
|
|
if ros_distro == "foxy":
|
|
return [
|
|
Node(
|
|
package="orbbec_camera",
|
|
executable="orbbec_camera_node",
|
|
name="ob_camera_node",
|
|
namespace=LaunchConfiguration("camera_name"),
|
|
parameters=params,
|
|
output="screen",
|
|
)
|
|
]
|
|
else:
|
|
return [
|
|
GroupAction([
|
|
PushRosNamespace(LaunchConfiguration("camera_name")),
|
|
ComposableNodeContainer(
|
|
name="camera_container",
|
|
namespace="",
|
|
package="rclcpp_components",
|
|
executable="component_container",
|
|
composable_node_descriptions=[
|
|
ComposableNode(
|
|
package="orbbec_camera",
|
|
plugin="orbbec_camera::OBCameraNodeDriver",
|
|
name=LaunchConfiguration("camera_name"),
|
|
parameters=params,
|
|
),
|
|
],
|
|
output="screen",
|
|
)
|
|
])
|
|
]
|
|
|
|
return LaunchDescription(
|
|
args + [
|
|
OpaqueFunction(function=lambda context: create_node_action(context, args))
|
|
]
|
|
)
|