0.3.0

zch-soft · Aug 8, 2019 · 6c0fb15 · 6c0fb15
1 parent 815b9a8
commit 6c0fb15
Show file tree

Hide file tree

Showing 11 changed files with 22 additions and 18 deletions.
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -4,10 +4,10 @@ Changelog for package astra_camera
 0.3.0 (2019-07-19)
 ------------
 * Add UVC support
-* Add OPENNI2 include files under include folder 
+* Add OPENNI2 include files under include folder
 * Add more video modes
 * Add useful services to control cameras
-* Support Stereo S, Embedded S, and Gemini
+* Support Stereo S, Embedded S, and Stereo S U3
 * Merge astra_launch package
 * 56-orbbec-usb.rules now includes uvc support
 * CMakeLists.txt changes accordingly

diff --git a/README.md b/README.md
@@ -88,7 +88,7 @@ This package provides multiple [ros services](http://wiki.ros.org/Services) for
 * `/camera/set_uvc_gain`: set uvc gain
 * `/camera/set_uvc_white_balance`: set uvc white balance (set **0** indicating auto mode)
 * `/camera/set_ir_flood`: turn on (**true**) or turn off (**false**) ir flood
-* `/camera/switch_ir_camera`: while using stereo_s/gemini, you can switch (left/right) ir camera
+* `/camera/switch_ir_camera`: while using stereo_s/stereo_s_u3, you can switch (left/right) ir camera
 
 ### Examples
 

diff --git a/include/astra_camera/astra_device_type.h b/include/astra_camera/astra_device_type.h
@@ -3,15 +3,15 @@
 
 #define OB_STEREO_S "Orbbec Canglong"
 #define OB_EMBEDDED_S "Astra SL1000S_U3"
-#define OB_GEMINI "Astra SV1301S_U3"
+#define OB_STEREO_S_U3 "Astra SV1301S_U3"
 #define OB_ASTRA_PRO "Orbbec Astra Pro"
 
 typedef enum
 {
     OB_ASTRA_NO,
     OB_STEREO_S_NO,
     OB_EMBEDDED_S_NO,
-    OB_GEMINI_NO,
+    OB_STEREO_S_U3_NO,
     OB_ASTRA_PRO_NO
 } OB_DEVICE_NO;
 

diff --git a/launch/embedded_s.launch b/launch/embedded_s.launch
@@ -52,6 +52,8 @@
   <!-- Disable bond topics by default -->
   <arg name="respawn" default="false" />
 
+  <arg name="index" default="0" />
+
   <!-- Worker threads for the nodelet manager -->
   <arg name="num_worker_threads" default="4" />
   <group ns="$(arg camera)">
@@ -61,7 +63,7 @@
       <param name="product" value="0x050b"/>
       <param name="serial" value="0"/>
       <!-- If the above parameters aren't unique, choose the first match: -->
-      <param name="index" value="0"/>
+      <param name="index" value="$(arg index)"/>
 
       <!-- Image size and type -->
       <param name="width" value="640"/>

diff --git a/launch/multi_astra.launch b/launch/multi_astra.launch
@@ -3,12 +3,12 @@
        into the "camera" namespace, and it is prepended to tf frame ids. -->
   <arg name="camera"      default="camera"/>
   <arg name="publish_tf"  default="true"/>
-  <arg name="3d_sensor"   default="gemini"/>  <!-- gemini, astrapro, astra -->
+  <arg name="3d_sensor"   default="stereo_s_u3"/>  <!-- stereo_s_u3, astrapro, astra -->
 
   <arg name="device_1_prefix"   default="01"/>
   <arg name="device_2_prefix"   default="02"/>
   <arg name="device_1_id"       default="AY053930173"/>
-  <arg name="device_2_id"       default="AY053930051"/>
+  <arg name="device_2_id"       default="AY053930032"/>
   <arg name="has_uvc_serial"    default="true"/>
 
   <!-- Factory-calibrated depth registration -->

diff --git a/launch/stereo_s.launch b/launch/stereo_s.launch
@@ -52,6 +52,8 @@
   <!-- Disable bond topics by default -->
   <arg name="respawn" default="false" />
 
+  <arg name="index" default="0" />
+
   <!-- Worker threads for the nodelet manager -->
   <arg name="num_worker_threads" default="4" />
   <group ns="$(arg camera)">
@@ -61,7 +63,7 @@
       <param name="product" value="0x0508"/>
       <param name="serial" value="0"/>
       <!-- If the above parameters aren't unique, choose the first match: -->
-      <param name="index" value="0"/>
+      <param name="index" value="$(arg index)"/>
 
       <!-- Image size and type -->
       <param name="width" value="640"/>

diff --git a/launch/gemini.launch → launch/stereo_s_u3.launch b/launch/gemini.launch → launch/stereo_s_u3.launch
@@ -56,7 +56,7 @@
   <!-- Worker threads for the nodelet manager -->
   <arg name="num_worker_threads" default="4" />
   <group ns="$(arg camera)">
-    <node pkg="astra_camera" type="camera_node" name="gemini" output="screen">
+    <node pkg="astra_camera" type="camera_node" name="stereo_s_u3">
       <!-- Parameters used to find the camera -->
       <param name="vendor" value="0x2bc5"/>
       <param name="product" value="0x0511"/>

diff --git a/src/astra_device.cpp b/src/astra_device.cpp
@@ -98,9 +98,9 @@ AstraDevice::AstraDevice(const std::string& device_URI):
   {
     device_type_no = OB_EMBEDDED_S_NO;
   }
-  else if (strcmp(device_type, OB_GEMINI) == 0)
+  else if (strcmp(device_type, OB_STEREO_S_U3) == 0)
   {
-    device_type_no = OB_GEMINI_NO;
+    device_type_no = OB_STEREO_S_U3_NO;
   }
   else if (strcmp(device_type, OB_ASTRA_PRO) == 0)
   {
@@ -245,7 +245,7 @@ void AstraDevice::setIRFlood(bool enable)
 
 void AstraDevice::switchIRCamera(int cam)
 {
-  if (device_type_no == OB_STEREO_S_NO || device_type_no == OB_GEMINI_NO)
+  if (device_type_no == OB_STEREO_S_NO || device_type_no == OB_STEREO_S_U3_NO)
   {
     openni_device_->setProperty(XN_MODULE_PROPERTY_SWITCH_IR, (uint8_t*)&cam, 4);
   }

diff --git a/src/astra_device_type.cpp b/src/astra_device_type.cpp
@@ -2,7 +2,7 @@
 
 bool astraWithUVC(OB_DEVICE_NO id)
 {
-    if (id == OB_STEREO_S_NO || id == OB_EMBEDDED_S_NO || id == OB_ASTRA_PRO_NO || id == OB_GEMINI_NO)
+    if (id == OB_STEREO_S_NO || id == OB_EMBEDDED_S_NO || id == OB_ASTRA_PRO_NO || id == OB_STEREO_S_U3_NO)
         return true;
     return false;
 }
diff --git a/src/astra_driver.cpp b/src/astra_driver.cpp
@@ -231,7 +231,7 @@ void AstraDriver::advertiseROSTopics()
   reset_ir_gain_server = nh_.advertiseService("reset_ir_gain", &AstraDriver::resetIRGainCb, this);
   reset_ir_exposure_server = nh_.advertiseService("reset_ir_exposure", &AstraDriver::resetIRExposureCb, this);
   get_camera_info = nh_.advertiseService("get_camera_info", &AstraDriver::getCameraInfoCb, this);
-  if (device_->getDeviceTypeNo() == OB_STEREO_S_NO || device_->getDeviceTypeNo() == OB_GEMINI_NO)
+  if (device_->getDeviceTypeNo() == OB_STEREO_S_NO || device_->getDeviceTypeNo() == OB_STEREO_S_U3_NO)
   {
     switch_ir_camera = nh_.advertiseService("switch_ir_camera", &AstraDriver::switchIRCameraCb, this);
   }
@@ -340,7 +340,7 @@ void AstraDriver::configCb(Config &config, uint32_t level)
     }
     uvc_flip_ = 1;
   }
-  else if (device_->getDeviceTypeNo() == OB_GEMINI_NO)
+  else if (device_->getDeviceTypeNo() == OB_STEREO_S_U3_NO)
   {
     if (config.depth_mode != 13 && config.depth_mode != 14)
     {

diff --git a/src/libuvc_camera/camera_driver.cpp b/src/libuvc_camera/camera_driver.cpp
@@ -324,9 +324,9 @@ void CameraDriver::ImageCallback(uvc_frame_t *frame) {
       {
         device_type_no_ = OB_ASTRA_PRO_NO;
       }
-      else if (strcmp(device_type_.c_str(), OB_GEMINI) == 0)
+      else if (strcmp(device_type_.c_str(), OB_STEREO_S_U3) == 0)
       {
-        device_type_no_ = OB_GEMINI_NO;
+        device_type_no_ = OB_STEREO_S_U3_NO;
       }
       else
       {