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lixiaobin
2024-01-15 13:50:10 +08:00
parent 53a7679109 75b6b6f8e6
commit 1604874cdf
26 changed files with 258 additions and 34 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
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@@ -311,6 +311,8 @@ 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";
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_;