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use unique_ptr publish point cloud

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This commit is contained in:
Joe Dong
2024-05-16 14:34:55 +08:00
parent c4852a5980
commit 2134347a7a
5 changed files with 64 additions and 59 deletions
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orbbec_camera/include/orbbec_camera/utils.h
+2 -2
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@@ -34,10 +34,10 @@ sensor_msgs::msg::CameraInfo convertToCameraInfo(OBCameraIntrinsic intrinsic,
void saveRGBPointsToPly(const std::shared_ptr<ob::Frame>& frame, const std::string& fileName);
void saveRGBPointCloudMsgToPly(const sensor_msgs::msg::PointCloud2& msg,
void saveRGBPointCloudMsgToPly(const sensor_msgs::msg::PointCloud2::UniquePtr& msg,
const std::string& fileName);
void saveDepthPointsToPly(const sensor_msgs::msg::PointCloud2& msg, const std::string& fileName);
void saveDepthPointsToPly(const sensor_msgs::msg::PointCloud2::UniquePtr& msg, const std::string& fileName);
void savePointsToPly(const std::shared_ptr<ob::Frame>& frame, const std::string& fileName);