update to v2.0.7

orbbec_camera/SDK/include/libobsensor/h/Device.h

@@ -632,7 +632,7 @@ OB_EXPORT void ob_delete_camera_param_list(ob_camera_param_list *param_list, ob_
 #define ob_device_info_uid ob_device_info_get_uid
 #define ob_device_info_serial_number ob_device_info_get_serial_number
 #define ob_device_info_firmware_version ob_device_info_get_firmware_version
-#define ob_device_info_connection_type ob_device_list_get_device_connection_type
+#define ob_device_info_connection_type ob_device_info_get_connection_type
 #define ob_device_info_ip_address ob_device_info_get_ip_address
 #define ob_device_info_hardware_version ob_device_info_get_hardware_version
 #define ob_device_info_supported_min_sdk_version ob_device_info_get_supported_min_sdk_version

orbbec_camera/SDK/include/libobsensor/hpp/Context.hpp

@@ -101,7 +101,7 @@ class Context {
      * @brief Creates a network device with the specified IP address and port.
      *
      * @param[in] address The IP address, ipv4 only. such as "192.168.1.10"
-     * @param[in] port The port number.
+     * @param[in] port The port number， currently only support 8090
      * @return std::shared_ptr<Device> The created device object.
      */
     std::shared_ptr<Device> createNetDevice(const char *address, uint16_t port) const {

orbbec_camera/SDK/include/libobsensor/hpp/Frame.hpp

@@ -261,7 +261,7 @@ class Frame : public std::enable_shared_from_this<Frame> {
         ob_error *error   = nullptr;
         auto      profile = ob_frame_get_stream_profile(impl_, &error);
         Error::handle(&error);
-        return std::make_shared<StreamProfile>(profile);
+        return StreamProfileFactory::create(profile);
     }
 
     /**

orbbec_camera/SDK/include/libobsensor/hpp/StreamProfile.hpp

@@ -9,6 +9,7 @@
 
 #include "Types.hpp"
 #include "libobsensor/h/StreamProfile.h"
+#include "libobsensor/h/Error.h"
 #include <iostream>
 #include <memory>
 
@@ -19,9 +20,7 @@ class StreamProfile : public std::enable_shared_from_this<StreamProfile> {
     const ob_stream_profile_t *impl_ = nullptr;
 
 public:
-    explicit StreamProfile(const ob_stream_profile_t *impl) : impl_(impl) {}
-
-    StreamProfile(StreamProfile &streamProfile) = delete;
+    StreamProfile(StreamProfile &streamProfile)            = delete;
     StreamProfile &operator=(StreamProfile &streamProfile) = delete;
 
     StreamProfile(StreamProfile &&streamProfile) noexcept : impl_(streamProfile.impl_) {
@@ -106,7 +105,7 @@ class StreamProfile : public std::enable_shared_from_this<StreamProfile> {
             throw std::runtime_error("Unsupported operation. Object's type is not the required type.");
         }
 
-        return std::static_pointer_cast<T>(shared_from_this());
+        return std::dynamic_pointer_cast<T>(shared_from_this());
     }
 
     /**
@@ -123,7 +122,6 @@ class StreamProfile : public std::enable_shared_from_this<StreamProfile> {
         return std::static_pointer_cast<const T>(shared_from_this());
     }
 
-public:
     // The following interfaces are deprecated and are retained here for compatibility purposes.
     OBFormat format() const {
         return getFormat();
@@ -132,6 +130,9 @@ class StreamProfile : public std::enable_shared_from_this<StreamProfile> {
     OBStreamType type() const {
         return getType();
     }
+
+protected:
+    explicit StreamProfile(const ob_stream_profile_t *impl) : impl_(impl) {}
 };
 
 /**
@@ -351,6 +352,33 @@ template <typename T> bool StreamProfile::is() const {
     return false;
 }
 
+class StreamProfileFactory {
+public:
+    static std::shared_ptr<StreamProfile> create(const ob_stream_profile_t *impl) {
+        ob_error  *error = nullptr;
+        const auto type  = ob_stream_profile_get_type(impl, &error);
+        Error::handle(&error);
+        switch(type) {
+        case OB_STREAM_IR:
+        case OB_STREAM_IR_LEFT:
+        case OB_STREAM_IR_RIGHT:
+        case OB_STREAM_DEPTH:
+        case OB_STREAM_COLOR:
+        case OB_STREAM_VIDEO:
+            return std::make_shared<VideoStreamProfile>(impl);
+        case OB_STREAM_ACCEL:
+            return std::make_shared<AccelStreamProfile>(impl);
+        case OB_STREAM_GYRO:
+            return std::make_shared<GyroStreamProfile>(impl);
+        default: {
+            ob_error *err = ob_create_error(OB_STATUS_ERROR, "Unsupported stream type.", "StreamProfileFactory::create", "", OB_EXCEPTION_TYPE_INVALID_VALUE);
+            Error::handle(&err);
+            return nullptr;
+        }
+        }
+    }
+};
+
 class StreamProfileList {
 protected:
     const ob_stream_profile_list_t *impl_;
@@ -385,7 +413,7 @@ class StreamProfileList {
         ob_error *error   = nullptr;
         auto      profile = ob_stream_profile_list_get_profile(impl_, index, &error);
         Error::handle(&error);
-        return std::make_shared<StreamProfile>(profile);
+        return StreamProfileFactory::create(profile);
     }
 
     /**
@@ -403,7 +431,8 @@ class StreamProfileList {
         ob_error *error   = nullptr;
         auto      profile = ob_stream_profile_list_get_video_stream_profile(impl_, width, height, format, fps, &error);
         Error::handle(&error);
-        return std::make_shared<VideoStreamProfile>(profile);
+        auto vsp = StreamProfileFactory::create(profile);
+        return vsp->as<VideoStreamProfile>();
     }
 
     /**
@@ -417,7 +446,8 @@ class StreamProfileList {
         ob_error *error   = nullptr;
         auto      profile = ob_stream_profile_list_get_accel_stream_profile(impl_, fullScaleRange, sampleRate, &error);
         Error::handle(&error);
-        return std::make_shared<AccelStreamProfile>(profile);
+        auto asp = StreamProfileFactory::create(profile);
+        return asp->as<AccelStreamProfile>();
     }
 
     /**
@@ -431,7 +461,8 @@ class StreamProfileList {
         ob_error *error   = nullptr;
         auto      profile = ob_stream_profile_list_get_gyro_stream_profile(impl_, fullScaleRange, sampleRate, &error);
         Error::handle(&error);
-        return std::make_shared<GyroStreamProfile>(profile);
+        auto gsp = StreamProfileFactory::create(profile);
+        return gsp->as<GyroStreamProfile>();
     }
 
 public:
@@ -442,4 +473,3 @@ class StreamProfileList {
 };
 
 }  // namespace ob
-

orbbec_camera/config/camera_params.yaml

@@ -1,33 +1,33 @@
 # common params
-depth_registration: false
+depth_registration: true
 enable_point_cloud: false
 enable_colored_point_cloud: false
 device_preset: "High Accuracy"
-laser_on_off_mode: 1 # 0: off, 1: on-off, 1: off-on
+laser_on_off_mode: 0 # 0: off, 1: on-off, 1: off-on
 time_domain: "global" # global, device, system
 enable_sync_host_time: false
-frames_per_trigger: 2
+frames_per_trigger: 1
 
 # When 3D reconstruction mode is enabled:
 # - The laser will switch to on-off mode
 # - IR images without the laser will be used for SLAM localization
 # - Depth images with the laser will be used because they provide better depth quality
-enable_3d_reconstruction_mode: true
+enable_3d_reconstruction_mode: false
 
 # color params
 enable_color: true
 color_width: 640
 color_height: 480
-color_fps: 90
+color_fps: 30
 color_format: "YUYV"
-enable_color_auto_exposure: false
+enable_color_auto_exposure: true
 color_exposure: 50 # 5ms
 color_gain: -1 # -1 default
 
 # depth params
 depth_width: 640
 depth_height: 480
-depth_fps: 90
+depth_fps: 30
 depth_format: "Y16"
 
 # ir exposure
@@ -39,12 +39,12 @@ ir_gain: 40
 enable_left_ir: true
 left_ir_width: 640
 left_ir_height: 480
-left_ir_fps: 90
+left_ir_fps: 30
 left_ir_format: "Y8"
 
 #right ir params
 enable_right_ir: true
 right_ir_width: 640
 right_ir_height: 480
-right_ir_fps: 90
+right_ir_fps: 30
 right_ir_format: "Y8"

orbbec_camera/include/orbbec_camera/constants.h

@@ -23,7 +23,7 @@
 
 #define OB_ROS_MAJOR_VERSION 2
 #define OB_ROS_MINOR_VERSION 0
-#define OB_ROS_PATCH_VERSION 5
+#define OB_ROS_PATCH_VERSION 7
 
 #ifndef STRINGIFY
 #define STRINGIFY(arg) #arg

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -63,6 +63,7 @@
 #include "orbbec_camera/image_publisher.h"
 #include "jpeg_decoder.h"
 #include <std_msgs/msg/string.hpp>
+#include <fcntl.h>
 
 #if defined(ROS_JAZZY) || defined(ROS_IRON)
 #include <cv_bridge/cv_bridge.hpp>
@@ -94,6 +95,8 @@
   (static_cast<std::ostringstream&&>(std::ostringstream() << getNamespaceStr() << "_odom_frame")) \
       .str()
 
+#define DEVICE_PATH "/dev/camsync"
+
 namespace orbbec_camera {
 using GetDeviceInfo = orbbec_camera_msgs::srv::GetDeviceInfo;
 using Extrinsics = orbbec_camera_msgs::msg::Extrinsics;
@@ -129,6 +132,11 @@ const std::map<OBStreamType, OBFrameType> STREAM_TYPE_TO_FRAME_TYPE = {
     {OB_STREAM_ACCEL, OB_FRAME_ACCEL},
 };
 
+typedef struct {
+    uint8_t  mode;
+    uint16_t fps;
+} cs_param_t;
+
 class OBCameraNode {
  public:
   OBCameraNode(rclcpp::Node* node, std::shared_ptr<ob::Device> device,
@@ -152,6 +160,11 @@ class OBCameraNode {
 
   void startIMU();
 
+  int openSocSyncPwmTrigger(uint16_t fps);
+  int closeSocSyncPwmTrigger();
+  void startGmslTrigger();
+  void stopGmslTrigger();
+
  private:
   struct IMUData {
     IMUData() = default;
@@ -539,6 +552,9 @@ class OBCameraNode {
   int hdr_merge_gain_1_ = -1;
   int hdr_merge_exposure_2_ = -1;
   int hdr_merge_gain_2_ = -1;
+  int gmsl_trigger_fd_ = -1;
+  int gmsl_trigger_fps_ = -1;
+  bool enable_gmsl_trigger_ = false;
 
   rclcpp::Publisher<std_msgs::msg::String>::SharedPtr filter_status_pub_;
   nlohmann::json filter_status_;