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Using a new thread to process Color data.

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This commit is contained in:
lixiaobin
2023-11-02 20:01:48 +08:00
parent b78910b895
commit 548f244087
2 changed files with 66 additions and 11 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+9 -1
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@@ -262,7 +262,7 @@ class OBCameraNode {
void switchIRCameraCallback(const std::shared_ptr<SetString::Request>& request,
std::shared_ptr<SetString::Response>& response);
void publishPointCloud(const std::shared_ptr<ob::FrameSet>& frame_set);
void publishPointCloud(const std::shared_ptr<ob::FrameSet>& frame_set, bool isColorPointCloud);
void publishDepthPointCloud(const std::shared_ptr<ob::FrameSet>& frame_set);
@@ -279,6 +279,8 @@ class OBCameraNode {
void onNewFrameCallback(const std::shared_ptr<ob::Frame>& frame,
const stream_index_pair& stream_index);
void noNewColorFrameCallback();
void saveImageToFile(const stream_index_pair& stream_index, const cv::Mat& image,
const sensor_msgs::msg::Image::SharedPtr& image_msg);
@@ -425,5 +427,11 @@ class OBCameraNode {
uint8_t* rgb_buffer_ = nullptr;
bool is_color_frame_decoded_ = false;
std::mutex device_lock_;
//For color
std::queue<std::shared_ptr<ob::FrameSet>> colorFrameQueue_;
std::shared_ptr<std::thread> colorFrameThread_ = nullptr;
std::mutex colorFrameMtx_;
std::condition_variable colorFrameCV_;
};
} // namespace orbbec_camera