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Fix point cloud direction

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默存
2022-06-13 14:58:47 +08:00
parent 9ce0dc4824
commit 3ac3e6d835
18 changed files with 487 additions and 303 deletions
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orbbec_camera/params/multi_camera/ob_camera1_params.yaml
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/camera1/camera1:
ros__parameters:
color_width: 640
color_height: 480
color_fps: 30
color_frame_id: "color_frame"
color_optical_frame_id: "color_optical_frame"
enable_color: true
ir_width: 640
ir_height: 480
ir_fps: 30
ir_frame_id: "ir_frame"
ir_optical_frame_id: "ir_optical_frame"
enable_ir: false
depth_width: 640
depth_height: 480
depth_fps: 25
depth_frame_id: "depth_frame"
depth_optical_frame_id: "depth_optical_frame"
enable_depth: true
publish_tf: true
tf_publish_rate: 10.0
publish_rgb_point_cloud: true
wait_for_device_timeout: 120.0
reconnect_timeout: 6.0
d2c_mode: "hw"
serial_number: ""
camera_link_frame_id: "camera1_link"
ob_log_level: "none"
orbbec_camera/params/multi_camera/ob_camera2_params.yaml
+29
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/camera2/camera2:
ros__parameters:
color_width: 640
color_height: 480
color_fps: 30
color_frame_id: "color_frame"
color_optical_frame_id: "color_optical_frame"
enable_color: true
ir_width: 640
ir_height: 480
ir_fps: 30
ir_frame_id: "ir_frame"
ir_optical_frame_id: "ir_optical_frame"
enable_ir: false
depth_width: 640
depth_height: 480
depth_fps: 25
depth_frame_id: "depth_frame"
depth_optical_frame_id: "depth_optical_frame"
enable_depth: true
publish_tf: true
tf_publish_rate: 10.0
publish_rgb_point_cloud: true
wait_for_device_timeout: 120.0
reconnect_timeout: 6.0
d2c_mode: "hw"
serial_number: ""
camera_link_frame_id: "camera2_link"
ob_log_level: "none"