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remove multiple thread publish point cloud

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This commit is contained in:
Joe Dong
2022-07-04 11:21:53 +08:00
parent a0abf05467
commit 56dffb3870
6 changed files with 4 additions and 124 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
-3
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@@ -48,8 +48,6 @@
#include "orbbec_camera/constants.h"
#include "orbbec_camera/dynamic_params.h"
#include "orbbec_camera/ob_point_cloud_publisher.h"
#define STREAM_NAME(sip) \
(static_cast<std::ostringstream&&>(std::ostringstream() \
<< _stream_name[sip.first] \
@@ -307,6 +305,5 @@ class OBCameraNode {
std::shared_ptr<std::thread> tf_thread_;
std::condition_variable tf_cv_;
double tf_publish_rate_ = 10.0;
std::unique_ptr<OBPointCloudPublisher> ob_point_cloud_publisher_;
};
} // namespace orbbec_camera
orbbec_camera/include/orbbec_camera/ob_point_cloud_publisher.h
-42
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@@ -1,42 +0,0 @@
#pragma once
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <thread>
#include <condition_variable>
#include <queue>
#include <thread>
#include <atomic>
namespace orbbec_camera {
class OBPointCloudPublisher {
public:
explicit OBPointCloudPublisher(rclcpp::Node* node, size_t max_filter_size = 2);
~OBPointCloudPublisher();
void pushPointCloud(sensor_msgs::msg::PointCloud2&& point_cloud2);
void pushColorPointCloud(sensor_msgs::msg::PointCloud2&& point_cloud2);
void publishPointCloud();
void publishColorPointCloud();
private:
rclcpp::Node* node_;
rclcpp::Logger logger_;
std::atomic_bool is_alive_{false};
size_t max_filter_size_;
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr point_cloud_publisher_;
std::queue<sensor_msgs::msg::PointCloud2> point_cloud_q_;
std::mutex point_cloud_q_lock_;
std::condition_variable point_cloud_cv_;
std::thread point_cloud_thread_;
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr color_point_cloud_publisher_;
std::queue<sensor_msgs::msg::PointCloud2> color_point_cloud_q_;
std::mutex color_point_cloud_q_lock_;
std::condition_variable color_point_cloud_cv_;
std::thread color_point_cloud_thread_;
};
} // namespace orbbec_camera