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refactor: unify depth unalign topic naming convention

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slz
2026-03-18 11:27:26 +08:00
parent ebdae35a4c
commit 07f2629d80
2 changed files with 11 additions and 8 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1 -1
View File
@@ -574,7 +574,7 @@ class OBCameraNode {
camera_info_publishers_;
std::map<stream_index_pair, bool> frame_info_logged_;
std::mutex frame_info_logged_mutex_;
rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr depth_raw_image_pub_;
std::shared_ptr<image_publisher> depth_unaligned_publisher_;
std::map<stream_index_pair, rclcpp::Service<GetInt32>::SharedPtr> get_exposure_srv_;
std::map<stream_index_pair, rclcpp::Service<SetInt32>::SharedPtr> set_exposure_srv_;
orbbec_camera/src/ob_camera_node.cpp
+10 -7
View File
@@ -2606,10 +2606,13 @@ void OBCameraNode::setupPublishers() {
if (use_intra_process_) {
depth_image_qos_profile = rmw_qos_profile_default;
}
depth_raw_image_pub_ = node_->create_publisher<sensor_msgs::msg::Image>(
"depth/image_raw/unaligned",
rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(depth_image_qos_profile),
depth_image_qos_profile));
if (use_intra_process_) {
depth_unaligned_publisher_ = std::make_shared<image_rcl_publisher>(
*node_, "depth/image_unaligned", depth_image_qos_profile);
} else {
depth_unaligned_publisher_ = std::make_shared<image_transport_publisher>(
*node_, "depth/image_unaligned", depth_image_qos_profile);
}
}
if (enable_sync_output_accel_gyro_) {
@@ -2712,8 +2715,8 @@ void OBCameraNode::publishPointCloud(const std::shared_ptr<ob::FrameSet> &frame_
}
void OBCameraNode::publishRawDepthImage(const std::shared_ptr<ob::Frame> &depth_frame) {
if (!depth_frame || !depth_raw_image_pub_ || !depth_registration_ ||
depth_raw_image_pub_->get_subscription_count() == 0) {
if (!depth_frame || !depth_unaligned_publisher_ || !depth_registration_ ||
depth_unaligned_publisher_->get_subscription_count() == 0) {
return;
}
@@ -2742,7 +2745,7 @@ void OBCameraNode::publishRawDepthImage(const std::shared_ptr<ob::Frame> &depth_
image_msg->step = width * unit_step_size_[DEPTH];
image_msg->header.frame_id = frame_id;
depth_raw_image_pub_->publish(std::move(image_msg));
depth_unaligned_publisher_->publish(std::move(image_msg));
}
void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &frame_set) {