i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-03 19:47:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update sdk to v2.2.8 and replace Repeat using clean IR video and speckle depth video with skip frame

Browse Source
This commit is contained in:
datean
2025-03-17 18:13:34 +08:00
parent 9caaa78c0a
commit 2c0fa34988
29 changed files with 242 additions and 107 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/tools/multi_save_rgbir_node.hpp
+5 -4
View File
@@ -78,7 +78,7 @@ class MultiCameraSubscriber : public rclcpp::Node {
private:
std::mutex image_mutex_;
std::mutex meta_mutex_;
// std::mutex meta_mutex_;
void params_init() {
std::ifstream file(
"install/orbbec_camera/share/orbbec_camera/config/tools/multisavergbir/"
@@ -117,7 +117,8 @@ class MultiCameraSubscriber : public rclcpp::Node {
color_metadata_.exposure_buffs.resize(left_ir_topics_.size());
color_metadata_.gain_buffs.resize(left_ir_topics_.size());
callback_called_ = std::vector<bool>(left_ir_topics_.size(), false);
auto custom_qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default));
auto custom_qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_sensor_data));
custom_qos.reliability(rclcpp::ReliabilityPolicy::BestEffort);
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
"camera_name_.size(): " << camera_name_.size());
for (size_t i = 0; i < camera_name_.size(); ++i) {
@@ -336,7 +337,7 @@ class MultiCameraSubscriber : public rclcpp::Node {
void ir_meta_Callback(std::shared_ptr<const orbbec_camera_msgs::msg::Metadata> msg,
size_t index) {
std::lock_guard<std::mutex> lock(meta_mutex_);
std::lock_guard<std::mutex> lock(image_mutex_);
if (!callback_called_[index] && static_cast<size_t>(saving_images_number_)) {
nlohmann::json json_data = nlohmann::json::parse(msg->json_data);
left_ir_metadata_.exposure_buffs[index].push_back(json_data["exposure"].dump());
@@ -345,7 +346,7 @@ class MultiCameraSubscriber : public rclcpp::Node {
}
void color_meta_Callback(std::shared_ptr<const orbbec_camera_msgs::msg::Metadata> msg,
size_t index) {
std::lock_guard<std::mutex> lock(meta_mutex_);
std::lock_guard<std::mutex> lock(image_mutex_);
if (!callback_called_[index] && static_cast<size_t>(saving_images_number_)) {
nlohmann::json json_data = nlohmann::json::parse(msg->json_data);
color_metadata_.exposure_buffs[index].push_back(json_data["exposure"].dump());