How to use depth_precicion pram in G330 launch file

Open cfsdp opened this issue 7 months ago • 1 comments

Due to my project required, I need more accurate depth value. I tried set DepthUnit to 0.1 in OrbbecView and it worked well. But when I try it in ROS2 Wrapper, I seems not working. In my Ros program the depth still output 0.400000(m) or 0.399000(m) e.g. The log is : My launch command is "ros2 launch orbbec_camera gemini_330_series.launch.py depth_precision:=0.1mm" [component_container-1] [INFO] [1745554610.417454073] [camera.camera_container]: Load Library: /home/gao/oil-yp-robot/install/orbbec_camera/lib/liborbbec_camera.so [component_container-1] [INFO] [1745554610.492415988] [camera.camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver> [component_container-1] [INFO] [1745554610.492466235] [camera.camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver> [component_container-1] [INFO] [1745554610.508205328] [camera.camera]: setUvcBackendType:libuvc [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container' [component_container-1] [INFO] [1745554612.588751326] [camera.camera]: Connecting to the default device [component_container-1] [INFO] [1745554612.750260453] [camera.camera]: Select device cost 161 ms [component_container-1] [INFO] [1745554612.750301491] [camera.camera]: Try to connect device via USB3.2 [component_container-1] [INFO] [1745554612.750350775] [camera.camera]: OBCameraNode: use_intra_process: OFF [component_container-1] [INFO] [1745554612.752182138] [camera.camera]: current time domain: global [component_container-1] [INFO] [1745554612.752197683] [camera.camera]: hdr_index1_laser_control_ 1 hdr_index1_depth_exposure_ 1 hdr_index1_depth_gain_ 16 hdr_index1_ir_brightness_ 20 hdr_index1_ir_ae_max_exposure_ 2000 [component_container-1] [component_container-1] [INFO] [1745554612.752202781] [camera.camera]: hdr_index0_laser_control_ 1 hdr_index0_depth_exposure_ 7500 hdr_index0_depth_gain_ 16 hdr_index0_ir_brightness_ 60 hdr_index0_ir_ae_max_exposure_ 10000 [component_container-1] [component_container-1] [INFO] [1745554612.752207530] [camera.camera]: laser_index1_laser_control_ 0 laser_index1_depth_exposure_ 3000 laser_index1_depth_gain_ 16 laser_index1_ir_brightness_ 60 laser_index1_ir_ae_max_exposure_ 17000 [component_container-1] [component_container-1] [INFO] [1745554612.752213082] [camera.camera]: laser_index0_laser_control_ 1 laser_index0_depth_exposure_ 3000 laser_index0_depth_gain_ 16 laser_index0_ir_brightness_ 60 laser_index0_ir_ae_max_exposure_ 30000 [component_container-1] [component_container-1] [INFO] [1745554612.873771028] [camera.camera]: Setting heartbeat to OFF [component_container-1] [INFO] [1745554612.873817644] [camera.camera]: Create align filter [component_container-1] [INFO] [1745554612.874202816] [camera.camera]: Depth process is HW D2D [component_container-1] [INFO] [1745554612.874207283] [camera.camera]: Setting LDP to ON [component_container-1] [INFO] [1745554612.875218168] [camera.camera]: Setting G300 laser control to 1 [component_container-1] [INFO] [1745554612.875350573] [camera.camera]: Available presets: [component_container-1] [INFO] [1745554612.875360564] [camera.camera]: Preset 0: Default [component_container-1] [INFO] [1745554612.875363140] [camera.camera]: Preset 1: Hand [component_container-1] [INFO] [1745554612.875365740] [camera.camera]: Preset 2: High Accuracy [component_container-1] [INFO] [1745554612.875368082] [camera.camera]: Preset 3: High Density [component_container-1] [INFO] [1745554612.875370267] [camera.camera]: Preset 4: Medium Density [component_container-1] [INFO] [1745554612.875372774] [camera.camera]: Preset 5: Factory Calib [component_container-1] [INFO] [1745554612.875375067] [camera.camera]: Preset 6: Custom [component_container-1] [INFO] [1745554612.875377378] [camera.camera]: Load device preset: Default [component_container-1] [INFO] [1745554612.876673791] [camera.camera]: Device preset Default loaded [component_container-1] [INFO] [1745554612.876836766] [camera.camera]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE [component_container-1] [INFO] [1745554612.877306909] [camera.camera]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE [component_container-1] [INFO] [1745554612.877314970] [camera.camera]: enable_noise_removal_filter:1 [component_container-1] [INFO] [1745554612.877318080] [camera.camera]: Setting color auto white balance to ON [component_container-1] [INFO] [1745554612.877480944] [camera.camera]: Setting color auto exposure priority to OFF [component_container-1] [INFO] [1745554612.877548304] [camera.camera]: Setting color auto exposure to ON [component_container-1] [INFO] [1745554612.877747864] [camera.camera]: Setting color backlight compenstation to OFF [component_container-1] [INFO] [1745554612.877909702] [camera.camera]: Setting depth auto exposure priority to OFF [component_container-1] [INFO] [1745554612.878060075] [camera.camera]: Setting IR auto exposure to ON [component_container-1] [INFO] [1745554612.880497302] [camera.camera]: default noise removal filter min diff: 256 [component_container-1] [INFO] [1745554612.880521612] [camera.camera]: default noise removal filter max size: 80 [component_container-1] [INFO] [1745554612.880765465] [camera.camera]: Setting hardware noise removal filter:0 [component_container-1] [INFO] [1745554612.880917110] [camera.camera]: Setting DecimationFilter...... [component_container-1] [INFO] [1745554612.880936162] [camera.camera]: set DecimationFilter to false [component_container-1] [INFO] [1745554612.880954911] [camera.camera]: Skip setting filter: DecimationFilter [component_container-1] [INFO] [1745554612.880965069] [camera.camera]: Setting HDRMerge...... [component_container-1] [INFO] [1745554612.880999964] [camera.camera]: set HDRMerge to false [component_container-1] [INFO] [1745554612.881015298] [camera.camera]: Skip setting filter: HDRMerge [component_container-1] [INFO] [1745554612.881024617] [camera.camera]: Setting SequenceIdFilter...... [component_container-1] [INFO] [1745554612.881032305] [camera.camera]: set SequenceIdFilter to false [component_container-1] [INFO] [1745554612.881039955] [camera.camera]: Skip setting filter: SequenceIdFilter [component_container-1] [INFO] [1745554612.881048287] [camera.camera]: Setting SpatialAdvancedFilter...... [component_container-1] [INFO] [1745554612.881055832] [camera.camera]: set SpatialAdvancedFilter to false [component_container-1] [INFO] [1745554612.881063635] [camera.camera]: Skip setting filter: SpatialAdvancedFilter [component_container-1] [INFO] [1745554612.881071767] [camera.camera]: Setting TemporalFilter...... [component_container-1] [INFO] [1745554612.881079217] [camera.camera]: set TemporalFilter to false [component_container-1] [INFO] [1745554612.881086818] [camera.camera]: Skip setting filter: TemporalFilter [component_container-1] [INFO] [1745554612.881094843] [camera.camera]: Setting HoleFillingFilter...... [component_container-1] [INFO] [1745554612.881102174] [camera.camera]: set HoleFillingFilter to false [component_container-1] [INFO] [1745554612.881110013] [camera.camera]: Skip setting filter: HoleFillingFilter [component_container-1] [INFO] [1745554612.881118826] [camera.camera]: Setting DisparityTransform...... [component_container-1] [INFO] [1745554612.881126382] [camera.camera]: Skip setting filter: DisparityTransform [component_container-1] [INFO] [1745554612.881134208] [camera.camera]: Setting ThresholdFilter...... [component_container-1] [INFO] [1745554612.881141650] [camera.camera]: set ThresholdFilter to false [component_container-1] [INFO] [1745554612.881149378] [camera.camera]: Skip setting filter: ThresholdFilter [component_container-1] [INFO] [1745554612.882332848] [camera.camera]: Setting DecimationFilter...... [component_container-1] [INFO] [1745554612.882358053] [camera.camera]: set color DecimationFilter to false [component_container-1] [INFO] [1745554612.882385901] [camera.camera]: Setting SequenceIdFilter...... [component_container-1] [INFO] [1745554612.882396520] [camera.camera]: set right ir SequenceIdFilter to false [component_container-1] [INFO] [1745554612.882413628] [camera.camera]: Setting SequenceIdFilter...... [component_container-1] [INFO] [1745554612.882422369] [camera.camera]: set left ir SequenceIdFilter to false [component_container-1] [INFO] [1745554612.886783239] [camera.camera]: stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG [component_container-1] [INFO] [1745554612.887121674] [camera.camera]: stream depth is enabled - width: 848, height: 480, fps: 30, Format: OB_FORMAT_Y16 [component_container-1] [INFO] [1745554612.905910698] [FFMPEGPublisher]: using encoder: libx264 [component_container-1] [INFO] [1745554612.908385773] [Publisher]: using encoder: libx264 [component_container-1] [INFO] [1745554612.914076084] [FFMPEGPublisher]: using encoder: libx264 [component_container-1] [INFO] [1745554612.914347693] [Publisher]: using encoder: libx264 [component_container-1] [INFO] [1745554612.915304108] [camera.camera]: Publish diagnostics every 1 seconds [component_container-1] [INFO] [1745554612.915885945] [camera.camera]: Enable color stream [component_container-1] [INFO] [1745554612.915899872] [camera.camera]: color video_profile: 1280x720 30fps OB_FORMAT_MJPG [component_container-1] [INFO] [1745554612.915906281] [camera.camera]: Stream color width: 1280 height: 720 fps: 30 format: MJPG [component_container-1] [INFO] [1745554612.915911308] [camera.camera]: Enable depth stream [component_container-1] [INFO] [1745554612.915914930] [camera.camera]: Stream depth width: 848 height: 480 fps: 30 format: Y16 [component_container-1] [INFO] [1745554612.931347091] [camera.camera]: Enable frame sync [component_container-1] [INFO] [1745554613.366871834] [camera.camera]: Publishing static transform from color to depth [component_container-1] [INFO] [1745554613.366905649] [camera.camera]: Translation 23.8133, -0.070656, -0.0805317 [component_container-1] [INFO] [1745554613.366910574] [camera.camera]: Rotation 0.00434981, 0.000247512, -0.00147899, 0.999989 [component_container-1] [INFO] [1745554613.366933553] [camera.camera]: Publishing static transform from depth to depth [component_container-1] [INFO] [1745554613.366937202] [camera.camera]: Translation 0, 0, 0 [component_container-1] [INFO] [1745554613.366940751] [camera.camera]: Rotation 0, 0, 0, 1 [component_container-1] [INFO] [1745554613.931479037] [camera.camera]: Setting interleave mode to nothing [component_container-1] [INFO] [1745554613.931530170] [camera.camera]: current interleave_ae_mode_: laser [component_container-1] [INFO] [1745554613.932076573] [camera.camera]: Enable enable_interleave_depth_frame to false [component_container-1] [INFO] [1745554613.982812831] [camera.camera]: Device Orbbec Gemini 335L connected [component_container-1] [INFO] [1745554613.982862843] [camera.camera]: Serial number: CP3C641000EH [component_container-1] [INFO] [1745554613.982901167] [camera.camera]: Firmware version: 1.4.60 [component_container-1] [INFO] [1745554613.982914408] [camera.camera]: Hardware version: 0.1 [component_container-1] [INFO] [1745554613.982923011] [camera.camera]: device unique id: 2-1-9 [component_container-1] [INFO] [1745554613.982935786] [camera.camera]: Current node pid: 418064 [component_container-1] [INFO] [1745554613.982944949] [camera.camera]: usb connect type: USB3.2 [component_container-1] [INFO] [1745554613.982953654] [camera.camera]: Start device cost 1404 ms [component_container-1] [INFO] [1745554613.982962794] [camera.camera]: Initialize device cost 1232 ms

Apr 25 '25 04:04 cfsdp

@cfsdp Hello,Thank you very much for your feedback.We recently updated the use of the depth_precision parameter.You can modify this parameter to use depth_precision https://github.com/orbbec/OrbbecSDK_ROS2/blob/0eb7f445265a0bb8f1d74df913c698244f02707e/orbbec_camera/launch/gemini_330_series.launch.py#L207

For example: ros2 launch orbbec_camera gemini_330_series.launch.py depth_precision:=0.1mm

May 07 '25 03:05 jjiszjj