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Merge branch 'master' of code.orbbec.com.cn:OrbbecSDK/orbbec-ros-sdk
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@jian-dong
jian-dong committed Jan 9, 2024
2 parents 0ca4b46 + d5650a5 commit 54ca6bc
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2 changes: 2 additions & 0 deletions README.MD
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Expand Up @@ -395,6 +395,7 @@ The following are the launch parameters available:
<!-- Unbinned Dense Default -->
<!-- Unbinned Sparse Default -->
<!-- Binned Sparse Default -->
<!-- Obstacle Avoidance -->
<arg name="depth_work_mode" default=""/>
```

Expand Down Expand Up @@ -427,6 +428,7 @@ The frame fps and resolution of IR must be consistent with the depth. The corres
| astra mini s pro | astra.launch |
| astra2 | astra2.launch |
| astra stereo s | stereo_s_u3.launch |
| astra pro2 | astra_pro2.launch |
| dabai | dabai.launch |
| dabai d1 | dabai_d1.launch |
| dabai dcw | dabai_dcw.launch |
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2 changes: 2 additions & 0 deletions README_CN.MD
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Expand Up @@ -385,6 +385,7 @@ roslaunch orbbec_camera multi_camera.launch
<!-- Unbinned Dense Default -->
<!-- Unbinned Sparse Default -->
<!-- Binned Sparse Default -->
<!-- Obstacle Avoidance -->
<arg name="depth_work_mode" default=""/>
```

Expand Down Expand Up @@ -417,6 +418,7 @@ IR的分辨率和帧率必须和深度保持一致。不同模式和分辨率对
| astra mini s pro | astra.launch |
| astra2 | astra2.launch |
| astra stereo s | stereo_s_u3.launch |
| astra pro2 | astra_pro2.launch |
| dabai | dabai.launch |
| dabai d1 | dabai_d1.launch |
| dabai dcw | dabai_dcw.launch |
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86 changes: 86 additions & 0 deletions launch/astra_pro2.launch
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<arg name="output" default="screen"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="usb_port" default=""/>
<arg name="device_num" default="1"/>
<arg name="vendor_id" default="0x2bc5"/>
<arg name="product_id" default=""/>
<arg name="enable_point_cloud" default="true"/>
<arg name="enable_colored_point_cloud" default="true"/>
<arg name="connection_delay" default="100"/>
<arg name="color_width" default="640"/>
<arg name="color_height" default="480"/>
<arg name="color_fps" default="10"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_format" default="UYVY"/>
<arg name="enable_color_auto_exposure" default="true"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
<arg name="depth_fps" default="10"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_format" default="Y11"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="480"/>
<arg name="ir_fps" default="10"/>
<arg name="enable_ir" default="false"/>
<arg name="ir_format" default="Y10"/>
<arg name="flip_ir" default="false"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_uri" default=""/>
<arg name="color_info_uri" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_pipeline" default="true"/>
<arg name="enable_soft_filter" default="true"/>
<group ns="$(arg camera_name)">
<node name="camera" pkg="orbbec_camera" type="orbbec_camera_node" output="$(arg output)">
<param name="camera_name" value="$(arg camera_name)"/>
<param name="depth_registration" value="$(arg depth_registration)"/>
<param name="serial_number" type="string" value="$(arg serial_number)"/>
<param name="usb_port" type="string" value="$(arg usb_port)"/>
<param name="vendor_id" value="$(arg vendor_id)"/>
<param name="product_id" value="$(arg product_id)"/>
<param name="enable_point_cloud" value="$(arg enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(arg enable_colored_point_cloud)"/>
<param name="connection_delay" value="$(arg connection_delay)"/>
<param name="color_width" value="$(arg color_width)"/>
<param name="color_height" value="$(arg color_height)"/>
<param name="color_fps" value="$(arg color_fps)"/>
<param name="enable_color" value="$(arg enable_color)"/>
<param name="color_format" value="$(arg color_format)"/>
<param name="flip_color" value="$(arg flip_color)"/>
<param name="enable_color_auto_exposure" value="$(arg enable_color_auto_exposure)"/>
<param name="depth_width" value="$(arg depth_width)"/>
<param name="depth_height" value="$(arg depth_height)"/>
<param name="depth_fps" value="$(arg depth_fps)"/>
<param name="flip_depth" value="$(arg flip_depth)"/>
<param name="enable_depth" value="$(arg enable_depth)"/>
<param name="depth_format" value="$(arg depth_format)"/>
<param name="ir_width" value="$(arg ir_width)"/>
<param name="ir_height" value="$(arg ir_height)"/>
<param name="ir_fps" value="$(arg ir_fps)"/>
<param name="enable_ir" value="$(arg enable_ir)"/>
<param name="flip_ir" value="$(arg flip_ir)"/>
<param name="ir_format" value="$(arg ir_format)"/>
<param name="enable_ir_auto_exposure" value="$(arg enable_ir_auto_exposure)"/>
<param name="publish_tf" value="$(arg publish_tf)"/>
<param name="tf_publish_rate" value="$(arg tf_publish_rate)"/>
<param name="ir_info_uri" value="$(arg ir_info_uri)"/>
<param name="color_info_uri" value="$(arg color_info_uri)"/>
<param name="log_level" value="$(arg log_level)"/>
<param name="enable_d2c_viewer" value="$(arg enable_d2c_viewer)"/>
<param name="enable_pipeline" value="$(arg enable_pipeline)"/>
<param name="device_num" value="$(arg device_num)"/>
<param name="enable_soft_filter" value="$(arg enable_soft_filter)"/>
<remap from="/$(arg camera_name)/depth/color/points" to="/$(arg camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
67 changes: 67 additions & 0 deletions launch/dabai_dw2.launch
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<arg name="output" default="screen"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="usb_port" default=""/>
<arg name="device_num" default="1"/>
<arg name="vendor_id" default="0x2bc5"/>
<arg name="product_id" default=""/>
<arg name="enable_point_cloud" default="true"/>
<arg name="connection_delay" default="100"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="400"/>
<arg name="depth_fps" default="10"/>
<arg name="enable_depth" default="true"/>
<arg name="depth_format" default="Y11"/>
<arg name="flip_depth" default="false"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="400"/>
<arg name="ir_fps" default="10"/>
<arg name="flip_ir" default="false"/>
<arg name="enable_ir" default="true"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_uri" default=""/>
<arg name="color_info_uri" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_pipeline" default="true"/>
<arg name="enable_soft_filter" default="true"/>
<group ns="$(arg camera_name)">
<node name="camera" pkg="orbbec_camera" type="orbbec_camera_node" output="$(arg output)">
<param name="camera_name" value="$(arg camera_name)"/>
<param name="depth_registration" value="$(arg depth_registration)"/>
<param name="serial_number" type="string" value="$(arg serial_number)"/>
<param name="usb_port" type="string" value="$(arg usb_port)"/>
<param name="vendor_id" value="$(arg vendor_id)"/>
<param name="product_id" value="$(arg product_id)"/>
<param name="enable_point_cloud" value="$(arg enable_point_cloud)"/>
<param name="connection_delay" value="$(arg connection_delay)"/>
<param name="depth_width" value="$(arg depth_width)"/>
<param name="depth_height" value="$(arg depth_height)"/>
<param name="depth_fps" value="$(arg depth_fps)"/>
<param name="enable_depth" value="$(arg enable_depth)"/>
<param name="depth_format" value="$(arg depth_format)"/>
<param name="flip_depth" value="$(arg flip_depth)"/>
<param name="ir_width" value="$(arg ir_width)"/>
<param name="ir_height" value="$(arg ir_height)"/>
<param name="ir_fps" value="$(arg ir_fps)"/>
<param name="enable_ir" value="$(arg enable_ir)"/>
<param name="ir_format" value="$(arg ir_format)"/>
<param name="flip_ir" value="$(arg flip_ir)"/>
<param name="enable_ir_auto_exposure" value="$(arg enable_ir_auto_exposure)"/>
<param name="publish_tf" value="$(arg publish_tf)"/>
<param name="tf_publish_rate" value="$(arg tf_publish_rate)"/>
<param name="ir_info_uri" value="$(arg ir_info_uri)"/>
<param name="color_info_uri" value="$(arg color_info_uri)"/>
<param name="log_level" value="$(arg log_level)"/>
<param name="enable_pipeline" value="$(arg enable_pipeline)"/>
<param name="device_num" value="$(arg device_num)"/>
<param name="enable_soft_filter" value="$(arg enable_soft_filter)"/>
</node>
</group>
</launch>
1 change: 1 addition & 0 deletions launch/gemini2.launch
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Expand Up @@ -62,6 +62,7 @@
<!-- Unbinned Dense Default -->
<!-- Unbinned Sparse Default -->
<!-- Binned Sparse Default -->
<!-- Obstacle Avoidance -->
<arg name="depth_work_mode" default=""/>
<arg name="enable_frame_sync" default="false"/>
<group ns="$(arg camera_name)">
Expand Down
4 changes: 3 additions & 1 deletion src/ob_camera_node.cpp
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Expand Up @@ -162,7 +162,6 @@ void OBCameraNode::getParameters() {
soft_filter_speckle_size_ = nh_private_.param<int>("soft_filter_speckle_size", -1);
depth_filter_config_ = nh_private_.param<std::string>("depth_filter_config", "");
if (!depth_filter_config_.empty()) {
enable_soft_filter_ = false;
enable_depth_filter_ = true;
}

Expand Down Expand Up @@ -196,6 +195,9 @@ void OBCameraNode::startStreams() {
if (enable_frame_sync_) {
pipeline_->enableFrameSync();
}
else {
pipeline_->disableFrameSync();
}
try {
setupPipelineConfig();
pipeline_->start(pipeline_config_, [this](const std::shared_ptr<ob::FrameSet>& frame_set) {
Expand Down
13 changes: 4 additions & 9 deletions src/ros_setup.cpp
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Expand Up @@ -123,10 +123,10 @@ void OBCameraNode::setupDevices() {
if (!depth_filter_config_.empty() && enable_depth_filter_) {
ROS_INFO_STREAM("Load depth filter config: " << depth_filter_config_);
device_->loadDepthFilterConfig(depth_filter_config_.c_str());
}

if (device_->isPropertySupported(OB_PROP_DEPTH_SOFT_FILTER_BOOL, OB_PERMISSION_READ_WRITE)) {
device_->setBoolProperty(OB_PROP_DEPTH_SOFT_FILTER_BOOL, enable_soft_filter_);
} else {
if (device_->isPropertySupported(OB_PROP_DEPTH_SOFT_FILTER_BOOL, OB_PERMISSION_READ_WRITE)) {
device_->setBoolProperty(OB_PROP_DEPTH_SOFT_FILTER_BOOL, enable_soft_filter_);
}
}

if (device_->isPropertySupported(OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, OB_PERMISSION_WRITE)) {
Expand All @@ -152,11 +152,6 @@ void OBCameraNode::setupDevices() {
device_->setIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT, soft_filter_speckle_size_);
}
}

auto default_soft_filter_max_diff = device_->getIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT);
if (soft_filter_max_diff_ != -1 && default_soft_filter_max_diff != soft_filter_max_diff_) {
device_->setIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT, soft_filter_max_diff_);
}
} catch (const ob::Error& e) {
ROS_ERROR_STREAM("Failed to setup devices: " << e.getMessage());
} catch (const std::exception& e) {
Expand Down

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