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update SDK

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This commit is contained in:
Joe Dong
2024-04-07 11:00:47 +08:00
parent ee0a2f7011
commit 4ca5c40909
24 changed files with 1953 additions and 2204 deletions
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orbbec_camera/src/ob_camera_node.cpp
+5 -7
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@@ -602,7 +602,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<double>(angular_vel_cov_, "angular_vel_cov", 0.02);
setAndGetNodeParameter<bool>(ordered_pc_, "ordered_pc", false);
setAndGetNodeParameter<int>(max_save_images_count_, "max_save_images_count", 10);
setAndGetNodeParameter<bool>(use_hardware_time_, "use_hardware_time", false);
setAndGetNodeParameter<bool>(use_hardware_time_, "use_hardware_time", true);
setAndGetNodeParameter<bool>(enable_depth_scale_, "enable_depth_scale", true);
}
@@ -622,7 +622,8 @@ void OBCameraNode::setupPipelineConfig() {
pipeline_config_->setDepthScaleRequire(enable_depth_scale_);
if (depth_registration_ && enable_stream_[COLOR] && enable_stream_[DEPTH]) {
auto info = device_->getDeviceInfo();
if (info->pid() == FEMTO_BOLT_PID) {
auto pid = info->pid();
if (pid == FEMTO_BOLT_PID || pid == GEMINI2R_PID) {
RCLCPP_INFO_STREAM(logger_, "set align mode ALIGN_D2C_SW_MODE.");
pipeline_config_->setAlignMode(ALIGN_D2C_SW_MODE);
} else {
@@ -1169,15 +1170,12 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
int height = static_cast<int>(video_frame->height());
auto timestamp = use_hardware_time_ ? fromUsToROSTime(video_frame->timeStampUs())
: fromMsToROSTime(video_frame->systemTimeStamp());
if (!camera_param_) {
camera_param_ = pipeline_->getCameraParam();
}
auto stream_profile = frame->getStreamProfile();
CHECK_NOTNULL(stream_profile);
auto video_stream_profile = stream_profile->as<ob::VideoStreamProfile>();
CHECK_NOTNULL(video_stream_profile);
const auto& intrinsic = video_stream_profile->getIntrinsic();
const auto& distortion = video_stream_profile->getDistortion();
const auto &intrinsic = video_stream_profile->getIntrinsic();
const auto &distortion = video_stream_profile->getDistortion();
std::string frame_id =
depth_registration_ ? depth_aligned_frame_id_[stream_index] : optical_frame_id_[stream_index];
auto camera_info = convertToCameraInfo(intrinsic, distortion, width);