mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-13 03:30:18 +08:00
107 lines
4.3 KiB
C++
107 lines
4.3 KiB
C++
/**************************************************************************/
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/* */
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/* Copyright (c) 2013-2022 Orbbec 3D Technology, Inc */
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/* */
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/* PROPRIETARY RIGHTS of Orbbec 3D Technology are involved in the */
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/* subject matter of this material. All manufacturing, reproduction, use, */
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/* and sales rights pertaining to this subject matter are governed by the */
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/* license agreement. The recipient of this software implicitly accepts */
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/* the terms of the license. */
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/* */
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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 <omp.h>
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#define THREAD_NUM 4
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#define OB_ROS_MAJOR_VERSION 1
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#define OB_ROS_MINOR_VERSION 0
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#define OB_ROS_PATCH_VERSION 1
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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 double IMAGE_FPS = 30.0;
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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_LIVE_PID = 0x0668;
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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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} // namespace orbbec_camera
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