i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-09-12 11:10:19 +08:00
Code Issues Packages Projects Releases Wiki Activity

modify rclcpp::Duration to be compatible with both Humble and Foxy

Browse Source
This commit is contained in:
datean
2024-10-23 10:59:17 +08:00
parent 543caa6bcb
commit 2cd55b092d
2 changed files with 11 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/tools/metadata_export_files.hpp
+8 -7
View File
@@ -108,7 +108,7 @@ class MetadataExportFiles : public rclcpp::Node {
left_ir_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(
MySyncPolicy(10), *left_ir_image_sub_, *left_ir_metadata_sub_);
left_ir_sync_->setMaxIntervalDuration(rclcpp::Duration(100000000LL)); // 100 ms
left_ir_sync_->setMaxIntervalDuration(rclcpp::Duration(0, 100 * 1000000)); // 100 ms
left_ir_sync_->registerCallback(
std::bind(&MetadataExportFiles::left_ir_metadata_sync_callback, this, _1, _2));
@@ -121,7 +121,7 @@ class MetadataExportFiles : public rclcpp::Node {
right_ir_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(
MySyncPolicy(10), *right_ir_image_sub_, *right_ir_metadata_sub_);
right_ir_sync_->setMaxIntervalDuration(rclcpp::Duration(100000000LL)); // 100 ms
right_ir_sync_->setMaxIntervalDuration(rclcpp::Duration(0, 100 * 1000000)); // 100 ms
right_ir_sync_->registerCallback(
std::bind(&MetadataExportFiles::right_ir_metadata_sync_callback, this, _1, _2));
@@ -134,7 +134,7 @@ class MetadataExportFiles : public rclcpp::Node {
depth_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(
MySyncPolicy(10), *depth_image_sub_, *depth_metadata_sub_);
depth_sync_->setMaxIntervalDuration(rclcpp::Duration(100000000LL)); // 100 ms
depth_sync_->setMaxIntervalDuration(rclcpp::Duration(0, 100 * 1000000)); // 100 ms
depth_sync_->registerCallback(
std::bind(&MetadataExportFiles::depth_metadata_sync_callback, this, _1, _2));
@@ -147,7 +147,7 @@ class MetadataExportFiles : public rclcpp::Node {
color_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(
MySyncPolicy(10), *color_image_sub_, *color_metadata_sub_);
color_sync_->setMaxIntervalDuration(rclcpp::Duration(100000000LL)); // 100 ms
color_sync_->setMaxIntervalDuration(rclcpp::Duration(0, 100 * 1000000)); // 100 ms
color_sync_->registerCallback(
std::bind(&MetadataExportFiles::color_metadata_sync_callback, this, _1, _2));
@@ -380,9 +380,10 @@ class MetadataExportFiles : public rclcpp::Node {
}
std::ostringstream ss;
ss << serial_path << "/" << std::to_string(frame_index) << "_" << "0000" << "_"
<< camera_timestamp_us << "_" << timestamp_us.str() << "_" << prefix << "_" << resolution
<< ".png";
ss << serial_path << "/" << std::to_string(frame_index) << "_"
<< "0000"
<< "_" << camera_timestamp_us << "_" << timestamp_us.str() << "_" << prefix << "_"
<< resolution << ".png";
cv::imwrite(ss.str(), cv_ptr->image);
}
void save_metadata_to_file(const ImageMetadata &metadata, const std::string &prefix) {
orbbec_camera/tools/metadata_save_files.hpp
+3 -3
View File
@@ -133,7 +133,7 @@ class MetadataSaveFiles : public rclcpp::Node {
left_ir_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(
MySyncPolicy(10), *left_ir_image_sub_, *left_ir_metadata_sub_);
left_ir_sync_->setMaxIntervalDuration(rclcpp::Duration(100000000LL)); // 100 ms
left_ir_sync_->setMaxIntervalDuration(rclcpp::Duration(0, 100 * 1000000)); // 100 ms
left_ir_sync_->registerCallback(
std::bind(&MetadataSaveFiles::left_ir_metadata_sync_callback, this, _1, _2));
@@ -146,7 +146,7 @@ class MetadataSaveFiles : public rclcpp::Node {
right_ir_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(
MySyncPolicy(10), *right_ir_image_sub_, *right_ir_metadata_sub_);
right_ir_sync_->setMaxIntervalDuration(rclcpp::Duration(100000000LL)); // 100 ms
right_ir_sync_->setMaxIntervalDuration(rclcpp::Duration(0, 100 * 1000000)); // 100 ms
right_ir_sync_->registerCallback(
std::bind(&MetadataSaveFiles::right_ir_metadata_sync_callback, this, _1, _2));
@@ -159,7 +159,7 @@ class MetadataSaveFiles : public rclcpp::Node {
depth_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(
MySyncPolicy(10), *depth_image_sub_, *depth_metadata_sub_);
depth_sync_->setMaxIntervalDuration(rclcpp::Duration(100000000LL)); // 100 ms
depth_sync_->setMaxIntervalDuration(rclcpp::Duration(0, 100 * 1000000)); // 100 ms
depth_sync_->registerCallback(
std::bind(&MetadataSaveFiles::depth_metadata_sync_callback, this, _1, _2));