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CameraOrbbec: support explicit rate on non-TOF cameras. (#1627)

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* rtabmap-rgbd_camera: added width/height options, 
* using CameraViewer for visualization by default (use -pcl option for old visualization). 
* CameraViewer: added capture and render rate.
* Note that non-TOF orbbec cameras could not be tested.
This commit is contained in:
matlabbe
2025-12-21 11:52:38 -08:00
committed by GitHub
parent af10d6b778
commit 92aff2129f
6 changed files with 241 additions and 143 deletions
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30
corelib/src/camera/CameraOrbbecSDK.cpp
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@@ -155,10 +155,10 @@ bool CameraOrbbecSDK::available()
CameraOrbbecSDK::CameraOrbbecSDK(
std::string deviceId,
int colorWidth,
int colorHeight,
int depthWidth,
int depthHeight,
unsigned int colorWidth,
unsigned int colorHeight,
unsigned int depthWidth,
unsigned int depthHeight,
float imageRate,
const Transform & localTransform) :
Camera(imageRate, localTransform)
@@ -327,22 +327,36 @@ bool CameraOrbbecSDK::init(const std::string & calibrationFolder, const std::str
UINFO("Resolution: %ldx%ld, FPS: %ld, Format: %d",
profile->getWidth(), profile->getHeight(), profile->getFps(), profile->getFormat(), j==0?" (default)":"");
// Get maximum frame rate based on resolution selected
if(sensors->getSensorType(i) == OB_SENSOR_DEPTH) {
if(profile->getFps() > maxDepthFps) {
if( profile->getFps() > maxDepthFps &&
depthWidth_ == profile->getWidth() &&
depthHeight_ == profile->getHeight())
{
maxDepthFps = profile->getFps();
}
}
else
{
if(profile->getFps() > maxColorFps) {
if( profile->getFps() > maxColorFps &&
colorWidth_ == profile->getWidth() &&
colorHeight_ == profile->getHeight())
{
maxColorFps = profile->getFps();
}
}
}
}
}
}
// Note that for TOF camera, we want maximum frame rate to better
// sync rgb and depth. For stereo cameras, use the specified frame rate.
if(this->getImageRate()!=0.0f && device->getDeviceInfo()->getDeviceType() != OB_TOF_CAMERA)
{
maxColorFps = maxDepthFps = (unsigned int)this->getImageRate();
this->setImageRate(0);
}
std::shared_ptr<ob::Config> imuConfig;
if(imuPublished_)
{