i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-09-16 04:50:20 +08:00
Code Issues Packages Projects Releases Wiki Activity

remove unused code

Browse Source
This commit is contained in:
Joe Dong
2022-12-28 15:12:04 +08:00
parent 470ebe1c5f
commit 02cc12518b
2 changed files with 12 additions and 108 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+12 -22
View File
@@ -140,17 +140,6 @@ class OBCameraNode {
std::optional<OBCameraParam> findDefaultCameraParam();
std::optional<OBCameraParam> findStreamDefaultCameraParam(const stream_index_pair& stream);
std::optional<OBCameraParam> findStreamCameraParam(const stream_index_pair& stream,
uint32_t width, uint32_t height);
std::optional<OBCameraParam> findCameraParam(uint32_t color_width, uint32_t color_height,
uint32_t depth_width, uint32_t depth_height);
std::optional<OBCameraParam> findDepthCameraParam(uint32_t width, uint32_t height);
std::optional<OBCameraParam> findColorCameraParam(uint32_t width, uint32_t height);
void getExposureCallback(const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32::Response>& response,
const stream_index_pair& stream_index);
@@ -275,15 +264,21 @@ class OBCameraNode {
std::map<stream_index_pair, rclcpp::Service<GetInt32>::SharedPtr> get_gain_srv_;
std::map<stream_index_pair, rclcpp::Service<SetInt32>::SharedPtr> set_gain_srv_;
std::map<stream_index_pair, rclcpp::Service<SetBool>::SharedPtr> toggle_sensor_srv_;
rclcpp::Service<GetInt32>::SharedPtr get_white_balance_srv_; // only rgb
rclcpp::Service<GetInt32>::SharedPtr get_white_balance_srv_;
rclcpp::Service<SetInt32>::SharedPtr set_white_balance_srv_;
rclcpp::Service<GetInt32>::SharedPtr get_auto_white_balance_srv_; // only rgb
rclcpp::Service<GetInt32>::SharedPtr get_auto_white_balance_srv_;
rclcpp::Service<SetBool>::SharedPtr set_auto_white_balance_srv_;
rclcpp::Service<GetString>::SharedPtr get_sdk_version_srv_;
std::map<stream_index_pair, rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr>
set_auto_exposure_srv_; // only rgb color
set_auto_exposure_srv_;
rclcpp::Service<GetDeviceInfo>::SharedPtr get_device_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_laser_enable_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_ldp_enable_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_floor_enable_srv_;
rclcpp::Service<SetInt32>::SharedPtr set_fan_mode_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr toggle_sensors_srv_;
bool publish_tf_;
bool publish_tf_ = false;
std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_tf_broadcaster_;
std::shared_ptr<tf2_ros::TransformBroadcaster> dynamic_tf_broadcaster_;
std::vector<geometry_msgs::msg::TransformStamped> tf_msgs;
@@ -294,15 +289,10 @@ class OBCameraNode {
sensor_msgs::msg::PointCloud2 point_cloud_msg_;
rclcpp::Publisher<Extrinsics>::SharedPtr extrinsics_publisher_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr toggle_sensors_srv_;
orbbec_camera_msgs::msg::DeviceInfo device_info_;
rclcpp::Service<GetDeviceInfo>::SharedPtr get_device_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_laser_enable_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_ldp_enable_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_floor_enable_srv_;
rclcpp::Service<SetInt32>::SharedPtr set_fan_mode_srv_;
std::vector<geometry_msgs::msg::TransformStamped> static_tf_msgs_;
std::shared_ptr<std::thread> tf_thread_;
std::shared_ptr<std::thread> tf_thread_ = nullptr;
std::condition_variable tf_cv_;
double tf_publish_rate_ = 10.0;
};
orbbec_camera/src/ob_camera_node.cpp
-86
View File
@@ -406,92 +406,6 @@ std::optional<OBCameraParam> OBCameraNode::findDefaultCameraParam() {
return {};
}
std::optional<OBCameraParam> OBCameraNode::findStreamDefaultCameraParam(
const stream_index_pair& stream) {
uint32_t width = width_[stream];
uint32_t height = height_[stream];
auto camera_params = device_->getCalibrationCameraParamList();
for (size_t i = 0; i < camera_params->count(); i++) {
auto param = camera_params->getCameraParam(i);
OBCameraIntrinsic intrinsic;
if (stream.first == OB_STREAM_COLOR) {
intrinsic = param.rgbIntrinsic;
} else if (stream.first == OB_STREAM_DEPTH) {
intrinsic = param.depthIntrinsic;
} else {
return {};
}
if (width * intrinsic.height == height * intrinsic.width) {
return param;
}
}
return {};
}
std::optional<OBCameraParam> OBCameraNode::findStreamCameraParam(const stream_index_pair& stream,
uint32_t width, uint32_t height) {
auto camera_params = device_->getCalibrationCameraParamList();
for (size_t i = 0; i < camera_params->count(); i++) {
auto param = camera_params->getCameraParam(i);
OBCameraIntrinsic intrinsic;
if (stream.first == OB_STREAM_COLOR) {
intrinsic = param.rgbIntrinsic;
} else if (stream.first == OB_STREAM_DEPTH) {
intrinsic = param.depthIntrinsic;
} else {
return {};
}
if (width * intrinsic.height == height * intrinsic.width) {
return param;
}
}
return {};
}
std::optional<OBCameraParam> OBCameraNode::findCameraParam(uint32_t color_width,
uint32_t color_height,
uint32_t depth_width,
uint32_t depth_height) {
auto camera_params = device_->getCalibrationCameraParamList();
for (size_t i = 0; i < camera_params->count(); i++) {
auto param = camera_params->getCameraParam(i);
int depth_w = param.depthIntrinsic.width;
int depth_h = param.depthIntrinsic.height;
int color_w = param.rgbIntrinsic.width;
int color_h = param.rgbIntrinsic.height;
if ((depth_w * depth_height == depth_h * depth_width) &&
(color_w * color_height == color_h * color_width)) {
return param;
}
}
return {};
}
std::optional<OBCameraParam> OBCameraNode::findDepthCameraParam(uint32_t width, uint32_t height) {
auto camera_params = device_->getCalibrationCameraParamList();
for (size_t i = 0; i < camera_params->count(); i++) {
auto param = camera_params->getCameraParam(i);
int depth_w = param.depthIntrinsic.width;
int depth_h = param.depthIntrinsic.height;
if (depth_w * height == depth_h * width) {
return param;
}
}
return {};
}
std::optional<OBCameraParam> OBCameraNode::findColorCameraParam(uint32_t width, uint32_t height) {
auto camera_params = device_->getCalibrationCameraParamList();
for (size_t i = 0; i < camera_params->count(); i++) {
auto param = camera_params->getCameraParam(i);
int color_w = param.rgbIntrinsic.width;
int color_h = param.rgbIntrinsic.height;
if (color_w * height == color_h * width) {
return param;
}
}
return {};
}
void OBCameraNode::setupDefaultStreamCalibData() {
auto param = findDefaultCameraParam();
if (!param.has_value()) {