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jj
2024-09-23 21:41:14 +08:00
parent 15c3034f4c
commit 0c8d3ba0a1
1 changed files with 21 additions and 20 deletions
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orbbec_camera/src/ob_camera_node.cpp
+21 -20
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@@ -1248,17 +1248,18 @@ void OBCameraNode::setupPublishers() {
}
std::string name = stream_name_[stream_index];
std::string topic = name + "/image_raw";
auto image_qos_profile = image_qos_[stream_index];
// if (use_intra_process_) {
// image_qos_profile = rmw_qos_profile_default;
// }
// if (use_intra_process_) {
// image_publishers_[stream_index] =
// std::make_shared<image_rcl_publisher>(*node_, topic, image_qos_profile);
// } else {
// image_publishers_[stream_index] =
// std::make_shared<image_transport_publisher>(*node_, topic, image_qos_profile);
// }
auto image_qos = image_qos_[stream_index];
auto image_qos_profile = getRMWQosProfileFromString(image_qos);
if (use_intra_process_) {
image_qos_profile = rmw_qos_profile_default;
}
if (use_intra_process_) {
image_publishers_[stream_index] =
std::make_shared<image_rcl_publisher>(*node_, topic, image_qos_profile);
} else {
image_publishers_[stream_index] =
std::make_shared<image_transport_publisher>(*node_, topic, image_qos_profile);
}
topic = name + "/camera_info";
auto camera_info_qos = camera_info_qos_[stream_index];
@@ -1276,15 +1277,15 @@ void OBCameraNode::setupPublishers() {
rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(camera_info_qos_profile),
camera_info_qos_profile));
}
// if (stream_index == COLOR && enable_color_undistortion_) {
// if (use_intra_process_) {
// color_undistortion_publisher_ = std::make_shared<image_rcl_publisher>(
// *node_, "color/image_undistorted", image_qos_profile);
// } else {
// color_undistortion_publisher_ = std::make_shared<image_transport_publisher>(
// *node_, "color/image_undistorted", image_qos_profile);
// }
// }
if (stream_index == COLOR && enable_color_undistortion_) {
if (use_intra_process_) {
color_undistortion_publisher_ = std::make_shared<image_rcl_publisher>(
*node_, "color/image_undistorted", image_qos_profile);
} else {
color_undistortion_publisher_ = std::make_shared<image_transport_publisher>(
*node_, "color/image_undistorted", image_qos_profile);
}
}
}
if (enable_sync_output_accel_gyro_) {