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feat: add support for timestamp clock type

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slz
2026-05-25 17:00:53 +08:00
parent 8148f6aede
commit 2200cf54be
24 changed files with 69 additions and 0 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+40
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@@ -263,6 +263,19 @@ void OBCameraNodeDriver::init() {
} else {
ctx_ = std::make_unique<ob::Context>(config_path_.c_str());
}
timestamp_clock_type_str_ = declare_parameter<std::string>("timestamp_clock_type", "");
if (!timestamp_clock_type_str_.empty()) {
auto timestamp_clock_type = timestampClockTypeFromString(timestamp_clock_type_str_);
try {
ctx_->setTimestampClockType(timestamp_clock_type);
auto actual_timestamp_clock_type = ctx_->getTimestampClockType();
RCLCPP_INFO_STREAM(logger_, "Set timestamp clock type to "
<< timestampClockTypeToString(actual_timestamp_clock_type));
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger_, "Failed to set SDK timestamp clock type: "
<< orbbec_camera::formatObErrorWithStatus(e));
}
}
applyForceIpConfig();
device_type_ = declare_parameter<std::string>("device_type", "camera");
@@ -1577,6 +1590,33 @@ OBDeviceAccessMode OBCameraNodeDriver::stringToAccessMode(const std::string &mod
}
}
OBClockType OBCameraNodeDriver::timestampClockTypeFromString(const std::string &clock_type_str) {
std::string lower_type;
std::transform(clock_type_str.begin(), clock_type_str.end(), std::back_inserter(lower_type),
[](auto ch) { return tolower(ch); });
if (lower_type == "realtime") {
return OB_CLOCK_TYPE_REALTIME;
}
if (lower_type == "monotonic") {
return OB_CLOCK_TYPE_MONOTONIC;
}
RCLCPP_WARN_STREAM(logger_,
"Unknown timestamp_clock_type: " << clock_type_str << ", using realtime");
return OB_CLOCK_TYPE_REALTIME;
}
std::string OBCameraNodeDriver::timestampClockTypeToString(OBClockType clock_type) {
switch (clock_type) {
case OB_CLOCK_TYPE_MONOTONIC:
return "monotonic";
case OB_CLOCK_TYPE_REALTIME:
default:
return "realtime";
}
}
std::string OBCameraNodeDriver::accessModeToString(OBDeviceAccessMode mode) {
switch (mode) {
case OB_DEVICE_EXCLUSIVE_ACCESS: