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feat: add support for colorized depth images in camera node and update launch configurations

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ob-yalian
2026-08-18 14:17:26 +08:00
parent 6a44bb965e
commit 475dd3923e
26 changed files with 88 additions and 9 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
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@@ -558,6 +558,8 @@ class OBCameraNode {
void publishRawDepthImage(const std::shared_ptr<ob::Frame>& depth_frame);
cv::Mat colorizeDepthImage(const cv::Mat& depth_image);
std::shared_ptr<ob::Frame> processDepthFrameFilter(std::shared_ptr<ob::Frame>& frame);
std::shared_ptr<ob::Frame> processColorFrameFilter(std::shared_ptr<ob::Frame>& frame);
@@ -799,6 +801,7 @@ class OBCameraNode {
std::string color_info_url_;
std::string ir_info_url_;
std::optional<OBCameraParam> camera_param_;
bool colorizer_enabled_ = false;
bool enable_d2c_viewer_ = false;
std::unique_ptr<D2CViewer> d2c_viewer_ = nullptr;
std::map<stream_index_pair, std::atomic_bool> save_images_;