HiveCoreRD/hivecore_robot_drivers
6
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

modify camara profile

Browse Source
This commit is contained in:
NuoDaJia02
2025-10-21 08:45:41 +08:00
parent 733c0258f8
commit eda6722b1d
3 changed files with 12 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
img_dev/src/img_dev_node.cpp
View File

@@ -22,7 +22,8 @@ void ImageSubscriber::pub_msg(const sensor_msgs::msg::Image& c_img,const sensor_
img_msg->darr=cfg.d_arr;
img_pub->publish(*img_msg);
pub_cnt+=1;
std::cout<<"pub msg["<<pub_cnt<<"]:"<<img_msg->darr[0]<<","<<img_msg->darr[1]<<",k:"<<img_msg->karr[0]<<","<<img_msg->karr[1]<<std::endl;
std::cout<<"pub msg["<<pub_cnt<<"]:"<<img_msg->image_color.width<<"x"<<img_msg->image_color.height<<";"<<img_msg->darr[0]<<","<<img_msg->darr[1]<<",k:"<<img_msg->karr[0]<<","<<img_msg->karr[1]<<std::endl;
}
}

12
img_dev/src/main.cpp
View File

@@ -18,7 +18,7 @@ static shared_ptr<ImageSubscriber> cur_node=nullptr;
ImgCfg cfg0=ImgCfg("orbbec", "myType","left","/camera_01/color/image_raw","/camera_01/depth/image_raw");
ImgCfg cfg1=ImgCfg("orbbec", "myType","right","/camera_02/color/image_raw","/camera_02/depth/image_raw");
//
ImgCfg cfg2=ImgCfg("realsense", "myType","left","/camera1/camera1/rgbd","/camera1/camera1/rgbd");
ImgCfg cfg2=ImgCfg("realsense", "myType","left","/camera/camera/rgbd","/camera/camera/rgbd");
ImgCfg cfg3=ImgCfg("realsense", "myType","right","/camera2/camera2/rgbd","/camera2/camera2/rgbd");
void sync_cb0(const sensor_msgs::msg::Image& c_img, const sensor_msgs::msg::Image& d_img) {
cur_node->pub_msg(c_img,d_img,cfg0);
@@ -89,11 +89,11 @@ int main(int argc, char* argv[]) {
//////////////////realsense START///////////////////////
rclcpp::Subscription<realsense2_camera_msgs::msg::RGBD>::SharedPtr rgbd2_sub_ = cur_node->create_subscription<realsense2_camera_msgs::msg::RGBD>("/camera2/camera2/rgbd", 10, [&](const realsense2_camera_msgs::msg::RGBD& msg) {
if(cfg2.k_arr.size()==0||cfg2.d_arr.size()==0){
cfg2.k_arr.assign(msg.rgb_camera_info.k.begin(), msg.rgb_camera_info.k.end());
cfg2.d_arr.assign(msg.rgb_camera_info.d.begin(), msg.rgb_camera_info.d.end());
cfg2.arr_copy+=1;
cout<<"copy:"<<"k:"<<cfg2.k_arr[0]<<"d:"<<cfg2.d_arr[0]<<endl;
if(cfg3.k_arr.size()==0||cfg3.d_arr.size()==0){
cfg3.k_arr.assign(msg.rgb_camera_info.k.begin(), msg.rgb_camera_info.k.end());
cfg3.d_arr.assign(msg.rgb_camera_info.d.begin(), msg.rgb_camera_info.d.end());
cfg3.arr_copy+=1;
cout<<"copy:"<<"k:"<<cfg3.k_arr[0]<<"d:"<<cfg3.d_arr[0]<<endl;
}
cur_node->pub_msg(msg.rgb,msg.depth,cfg3);
});

6
realsense/realsense2_camera/launch/rs_launch.py
View File

@@ -34,14 +34,16 @@ configurable_parameters = [{'name': 'camera_name', 'default': '
{'name': 'log_level', 'default': 'info', 'description': 'debug log level [DEBUG|INFO|WARN|ERROR|FATAL]'},
{'name': 'output', 'default': 'screen', 'description': 'pipe node output [screen|log]'},
{'name': 'enable_color', 'default': 'true', 'description': 'enable color stream'},
{'name': 'rgb_camera.color_profile', 'default': '0,0,0', 'description': 'color stream profile'},
{'name': 'rgb_camera.color_profile', 'default': '1280,720,30', 'description': 'color stream profile'},
# {'name': 'rgb_camera.color_profile', 'default': '0,0,0', 'description': 'color stream profile'},
{'name': 'rgb_camera.color_format', 'default': 'RGB8', 'description': 'color stream format'},
{'name': 'rgb_camera.enable_auto_exposure', 'default': 'true', 'description': 'enable/disable auto exposure for color image'},
{'name': 'enable_depth', 'default': 'true', 'description': 'enable depth stream'},
{'name': 'enable_infra', 'default': 'false', 'description': 'enable infra0 stream'},
{'name': 'enable_infra1', 'default': 'false', 'description': 'enable infra1 stream'},
{'name': 'enable_infra2', 'default': 'false', 'description': 'enable infra2 stream'},
{'name': 'depth_module.depth_profile', 'default': '0,0,0', 'description': 'depth stream profile'},
{'name': 'depth_module.depth_profile', 'default': '1280,720,30', 'description': 'depth stream profile'},
# {'name': 'depth_module.depth_profile', 'default': '0,0,0', 'description': 'depth stream profile'},
{'name': 'depth_module.depth_format', 'default': 'Z16', 'description': 'depth stream format'},
{'name': 'depth_module.infra_profile', 'default': '0,0,0', 'description': 'infra streams (0/1/2) profile'},
{'name': 'depth_module.infra_format', 'default': 'RGB8', 'description': 'infra0 stream format'},