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Merged
merged 1 commit into from
Feb 17, 2021
Merged

Cherry picked from development/fix-unknow-profile branch #1702

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34 changes: 17 additions & 17 deletions realsense2_camera/launch/rs_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -29,31 +29,31 @@
{'name': 'unite_imu_method', 'default': '', 'description': '[copy|linear_interpolation]'},
{'name': 'json_file_path', 'default': '', 'description': 'allows advanced configuration'},
{'name': 'output', 'default': 'screen', 'description': 'pipe node output [screen|log]'},
{'name': 'depth_width', 'default': '640', 'description': 'depth image width'},
{'name': 'depth_height', 'default': '480', 'description': 'depth image height'},
{'name': 'depth_width', 'default': '-1', 'description': 'depth image width'},
{'name': 'depth_height', 'default': '-1', 'description': 'depth image height'},
{'name': 'enable_depth', 'default': 'true', 'description': 'enable depth stream'},
{'name': 'color_width', 'default': '640', 'description': 'color image width'},
{'name': 'color_height', 'default': '480', 'description': 'color image height'},
{'name': 'color_width', 'default': '-1', 'description': 'color image width'},
{'name': 'color_height', 'default': '-1', 'description': 'color image height'},
{'name': 'enable_color', 'default': 'true', 'description': 'enable color stream'},
{'name': 'infra_width', 'default': '640', 'description': 'infra width'},
{'name': 'infra_height', 'default': '480', 'description': 'infra width'},
{'name': 'infra_width', 'default': '-1', 'description': 'infra width'},
{'name': 'infra_height', 'default': '-1', 'description': 'infra width'},
{'name': 'enable_infra1', 'default': 'true', 'description': 'enable infra1 stream'},
{'name': 'enable_infra2', 'default': 'true', 'description': 'enable infra2 stream'},
{'name': 'infra_rgb', 'default': 'false', 'description': 'enable infra2 stream'},
{'name': 'fisheye_width', 'default': '848', 'description': 'fisheye width'},
{'name': 'fisheye_height', 'default': '800', 'description': 'fisheye width'},
{'name': 'fisheye_width', 'default': '-1', 'description': 'fisheye width'},
{'name': 'fisheye_height', 'default': '-1', 'description': 'fisheye width'},
{'name': 'enable_fisheye1', 'default': 'true', 'description': 'enable fisheye1 stream'},
{'name': 'enable_fisheye2', 'default': 'true', 'description': 'enable fisheye2 stream'},
{'name': 'confidence_width', 'default': '640', 'description': 'depth image width'},
{'name': 'confidence_height', 'default': '480', 'description': 'depth image height'},
{'name': 'confidence_width', 'default': '-1', 'description': 'depth image width'},
{'name': 'confidence_height', 'default': '-1', 'description': 'depth image height'},
{'name': 'enable_confidence', 'default': 'true', 'description': 'enable depth stream'},
{'name': 'fisheye_fps', 'default': '30.', 'description': ''},
{'name': 'depth_fps', 'default': '30.', 'description': ''},
{'name': 'confidence_fps', 'default': '30.', 'description': ''},
{'name': 'infra_fps', 'default': '30.', 'description': ''},
{'name': 'color_fps', 'default': '30.', 'description': ''},
{'name': 'gyro_fps', 'default': '400.', 'description': ''},
{'name': 'accel_fps', 'default': '250.', 'description': ''},
{'name': 'fisheye_fps', 'default': '-1.', 'description': ''},
{'name': 'depth_fps', 'default': '-1.', 'description': ''},
{'name': 'confidence_fps', 'default': '-1.', 'description': ''},
{'name': 'infra_fps', 'default': '-1.', 'description': ''},
{'name': 'color_fps', 'default': '-1.', 'description': ''},
{'name': 'gyro_fps', 'default': '-1.', 'description': ''},
{'name': 'accel_fps', 'default': '-1.', 'description': ''},
{'name': 'color_qos', 'default': 'SENSOR_DATA', 'description': 'QoS profile name'},
{'name': 'confidence_qos', 'default': 'SENSOR_DATA', 'description': 'QoS profile name'},
{'name': 'depth_qos', 'default': 'SENSOR_DATA', 'description': 'QoS profile name'},
Expand Down
88 changes: 59 additions & 29 deletions realsense2_camera/src/base_realsense_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1092,6 +1092,7 @@ void BaseRealSenseNode::enable_devices()
{
auto& sens = _sensors[elem];
auto profiles = sens.get_stream_profiles();
rs2::stream_profile default_profile, selected_profile;
for (auto& profile : profiles)
{
auto video_profile = profile.as<rs2::video_stream_profile>();
Expand All @@ -1102,34 +1103,51 @@ void BaseRealSenseNode::enable_devices()
", Height: " << video_profile.height() <<
", FPS: " << video_profile.fps());

if ((video_profile.stream_type() == elem.first) &&
(_width[elem] == 0 || video_profile.width() == _width[elem]) &&
(_height[elem] == 0 || video_profile.height() == _height[elem]) &&
(_fps[elem] == 0 || video_profile.fps() == _fps[elem]) &&
(_format.find(elem.first) == _format.end() || video_profile.format() == _format[elem.first] ) &&
video_profile.stream_index() == elem.second)
if (profile.stream_type() == elem.first)
{
_width[elem] = video_profile.width();
_height[elem] = video_profile.height();
_fps[elem] = video_profile.fps();

_enabled_profiles[elem].push_back(profile);

_image[elem] = cv::Mat(_height[elem], _width[elem], _image_format[elem.first], cv::Scalar(0, 0, 0));

ROS_INFO_STREAM(STREAM_NAME(elem) << " stream is enabled - width: " << _width[elem] << ", height: " << _height[elem] << ", fps: " << _fps[elem] << ", " << "Format: " << video_profile.format());
break;
if (profile.is_default())
{
default_profile = profile;
}
if ((_width[elem] == 0 || video_profile.width() == _width[elem]) &&
(_height[elem] == 0 || video_profile.height() == _height[elem]) &&
(_fps[elem] == 0 || video_profile.fps() == _fps[elem]) &&
(_format.find(elem.first) == _format.end() || video_profile.format() == _format[elem.first] ) &&
video_profile.stream_index() == elem.second)
{
selected_profile = profile;
break;
}
}

}
if (_enabled_profiles.find(elem) == _enabled_profiles.end())
if (!selected_profile)
{
ROS_WARN_STREAM("Given stream configuration is not supported by the device! " <<
ROS_WARN_STREAM_COND((_width[elem]!=-1 && _height[elem]!=-1 && _fps[elem]!=-1), "Given stream configuration is not supported by the device! " <<
" Stream: " << rs2_stream_to_string(elem.first) <<
", Stream Index: " << elem.second <<
", Width: " << _width[elem] <<
", Height: " << _height[elem] <<
", FPS: " << _fps[elem] <<
", Format: " << ((_format.find(elem.first) == _format.end())? "None":rs2_format_to_string(rs2_format(_format[elem.first]))));
if (default_profile)
{
ROS_WARN_STREAM_COND((_width[elem]!=-1 && _height[elem]!=-1 && _fps[elem]!=-1), "Using default profile instead.");
selected_profile = default_profile;
}
}
if (selected_profile)
{
auto video_profile = selected_profile.as<rs2::video_stream_profile>();
_width[elem] = video_profile.width();
_height[elem] = video_profile.height();
_fps[elem] = video_profile.fps();
_enabled_profiles[elem].push_back(selected_profile);
_image[elem] = cv::Mat(_height[elem], _width[elem], _image_format[elem.first], cv::Scalar(0, 0, 0));
ROS_INFO_STREAM(STREAM_NAME(elem) << " stream is enabled - width: " << _width[elem] << ", height: " << _height[elem] << ", fps: " << _fps[elem] << ", " << "Format: " << video_profile.format());
}
else
{
_enable[elem] = false;
}
}
Expand All @@ -1150,6 +1168,7 @@ void BaseRealSenseNode::enable_devices()
{
auto& sens = _sensors[elem];
auto profiles = sens.get_stream_profiles();
rs2::stream_profile default_profile, selected_profile;
ROS_DEBUG_STREAM("Available profiles:");
for (rs2::stream_profile& profile : profiles)
{
Expand All @@ -1158,24 +1177,35 @@ void BaseRealSenseNode::enable_devices()
}
for (rs2::stream_profile& profile : profiles)
{
if (profile.stream_type() == elem.first &&
(_fps[elem] == 0 || profile.fps() == _fps[elem]))
if (profile.stream_type() == elem.first)
{
_fps[elem] = profile.fps();
_enabled_profiles[elem].push_back(profile);
break;
if (profile.is_default())
default_profile = profile;
if (_fps[elem] == 0 || profile.fps() == _fps[elem])
{
selected_profile = profile;
break;
}
}
}
if (_enabled_profiles.find(elem) == _enabled_profiles.end())
if (!selected_profile)
{
std::string stream_name(STREAM_NAME(elem));
ROS_WARN_STREAM("No mathcing profile found for " << stream_name << " with fps=" << _fps[elem]);
ROS_WARN_STREAM("profiles found for " <<stream_name << ":");
for (rs2::stream_profile& profile : profiles)
ROS_WARN_STREAM_COND((_fps[elem]!=-1), "No mathcing profile found for " << stream_name << " with fps=" << _fps[elem]);
if (default_profile)
{
if (profile.stream_type() != elem.first) continue;
ROS_WARN_STREAM("fps: " << profile.fps() << ". format: " << profile.format());
ROS_WARN_STREAM_COND((_fps[elem]!=-1), "Using default profile instead.");
selected_profile = default_profile;
}
}
if(selected_profile)
{
_fps[elem] = selected_profile.fps();
_enabled_profiles[elem].push_back(selected_profile);
ROS_INFO_STREAM(STREAM_NAME(elem) << " stream is enabled - fps: " << _fps[elem]);
}
else
{
_enable[elem] = false;
}
}
Expand Down