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Update save_rgbir qos profile

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jj
2025-03-26 15:36:50 +08:00
parent ab8b3c35e3
commit 47db6bce36
4 changed files with 4 additions and 3 deletions
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orbbec_camera/CMakeLists.txt
+1
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@@ -240,6 +240,7 @@ rclcpp_components_register_node(multi_save_rgbir
) )
# Install rules # Install rules
install(TARGETS ${PROJECT_NAME} frame_latency install(TARGETS ${PROJECT_NAME} frame_latency
multi_save_rgbir
ARCHIVE DESTINATION lib ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib LIBRARY DESTINATION lib
RUNTIME DESTINATION bin RUNTIME DESTINATION bin
orbbec_camera/config/camera_params.yaml
+1 -1
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@@ -34,7 +34,7 @@ depth_qos: "sensor_data"
depth_camera_info_qos: "sensor_data" depth_camera_info_qos: "sensor_data"
# ir exposure # ir exposure
enable_ir_auto_exposure: true enable_ir_auto_exposure: false
ir_exposure: 5000 ir_exposure: 5000
ir_gain: 40 ir_gain: 40
orbbec_camera/config/camera_secondary_params.yaml
+1 -1
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@@ -35,7 +35,7 @@ depth_qos: "sensor_data"
depth_camera_info_qos: "sensor_data" depth_camera_info_qos: "sensor_data"
# ir exposure # ir exposure
enable_ir_auto_exposure: true enable_ir_auto_exposure: false
ir_exposure: 5000 ir_exposure: 5000
ir_gain: 40 ir_gain: 40
orbbec_camera/tools/multi_save_rgbir.cpp
+1 -1
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@@ -154,7 +154,7 @@ class MultiCameraSubscriber : public rclcpp::Node {
color_metadata_.exposure_buffs.resize(left_ir_topics_.size()); color_metadata_.exposure_buffs.resize(left_ir_topics_.size());
color_metadata_.gain_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); 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),rmw_qos_profile_sensor_data);
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"), RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"),
"camera_name_.size(): " << camera_name_.size()); "camera_name_.size(): " << camera_name_.size());
for (size_t i = 0; i < camera_name_.size(); ++i) { for (size_t i = 0; i < camera_name_.size(); ++i) {