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orbbec / ros_astra_camera

ROS wrapper for Astra camera
Apache License 2.0
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Stereo S - Only One IR Camera Stream Availabe #73

Open faizan-m opened 5 years ago

faizan-m commented 5 years ago

At the moment there is only one IR camera stream available in the driver but Stereo S has two IR cameras, is it possible to enable that as well or will it be available in the future?

Nan-Orbbec3d-US commented 5 years ago

This package is developed based on Orbbec OpenNI2 SDK and we cannot enable the other IR camera by SDK for now. Probably it will be available in the future.

Nan-Orbbec3d-US commented 5 years ago

Hi @faizan-m , the SDK will support switching IR cameras (left/right). I can add a service to switch IR cameras. However, we only have the switch, it means we still cannot grab images simultaneously. Hope this helps.

faizan-m commented 5 years ago

Yeah that would be helpful! I am assuming the service will also switch the tf of the optical frame as well?

Nan-Orbbec3d-US commented 5 years ago

Good idea, but I do not know how to get the extrinsics between left and right IR. Thus, it won't switch the tf. However, I will keep it in my mind.

Nan-Orbbec3d-US commented 5 years ago

Hi, @faizan-m , you can check service /camera/switch_ir_camera in the latest version now ;-)

Nan-Orbbec3d-US commented 5 years ago

Hi, @faizan-m , did you try this new function? If you can get both IR images, I think we can close this issue.

faizan-m commented 5 years ago

For my particular use case, I was interested in using both the image streams simultaneously to do stereoscopic stuff. While the service opens up the other stream as well, ideally I would want both at the same time if possible

Nan-Orbbec3d-US commented 5 years ago

Ok, I will keep your requirement in mind. Once SDK supports it, I will add this feature.

HanzhiC commented 1 year ago

Any update of the SDK to support acquiring left and right IR streams simultaneously?