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Add D2C publisher

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This commit is contained in:
Joe Dong
2024-04-09 11:24:59 +08:00
parent 4addc805b3
commit 018d243e2d
3 changed files with 69 additions and 5 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+2 -2
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@@ -324,8 +324,8 @@ class OBCameraNode {
std::unique_ptr<ob::Pipeline> imuPipeline_ = nullptr;
std::atomic_bool pipeline_started_{false};
std::string camera_name_ = "camera";
const std::string imu_optical_frame_id_ = "camera_gyro_accel_optical_frame";
const std::string imu_frame_id_ = "camera_gyro_accel_frame";
const std::string imu_optical_frame_id_ = "camera_gyro_optical_frame";
const std::string imu_frame_id_ = "camera_gyro_frame";
std::shared_ptr<ob::Config> pipeline_config_ = nullptr;
std::map<stream_index_pair, std::shared_ptr<ob::Sensor>> sensors_;
std::map<stream_index_pair, ob_camera_intrinsic> stream_intrinsics_;