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Update orbbec_camera package to be compatible with cuvslam

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This commit is contained in:
jj
2025-04-26 18:12:18 +08:00
parent 3c4764f8ca
commit 5bd616cb90
213 changed files with 2964 additions and 7751 deletions
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orbbec_camera/CMakeLists.txt
+3 -16
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@@ -217,7 +217,7 @@ add_orbbec_executable(list_camera_profile_mode_node tools/list_camera_profile.cp
add_orbbec_executable(topic_statistics_node tools/topic_statistics.cpp)
add_orbbec_executable(metadata_save_files_node tools/metadata_save_files.cpp)
add_orbbec_executable(metadata_export_files_node tools/metadata_export_files.cpp)
add_orbbec_executable(ob_benchmark_node tools/ob_benchmark.cpp)
add_orbbec_executable(multi_save_cloud_node tools/multi_save_cloud_node.cpp)
add_library(frame_latency SHARED tools/frame_latency.cpp)
target_include_directories(frame_latency PUBLIC ${COMMON_INCLUDE_DIRS})
@@ -229,16 +229,6 @@ rclcpp_components_register_node(frame_latency
EXECUTABLE frame_latency_node
)
add_library(start_benchmark SHARED tools/start_benchmark.cpp)
target_include_directories(start_benchmark PUBLIC ${COMMON_INCLUDE_DIRS})
target_link_libraries(start_benchmark ${COMMON_LIBRARIES})
ament_target_dependencies(start_benchmark ${dependencies})
rclcpp_components_register_node(start_benchmark
PLUGIN "orbbec_camera::tools::StartBenchmark"
EXECUTABLE start_benchmark_node
)
add_library(multi_save_rgbir SHARED tools/multi_save_rgbir.cpp)
target_include_directories(multi_save_rgbir PUBLIC ${COMMON_INCLUDE_DIRS} )
target_link_libraries(multi_save_rgbir ${COMMON_LIBRARIES})
@@ -248,10 +238,8 @@ rclcpp_components_register_node(multi_save_rgbir
PLUGIN "orbbec_camera::tools::MultiCameraSubscriber"
EXECUTABLE multi_save_rgbir_node
)
# Install rules
install(TARGETS ${PROJECT_NAME} frame_latency
start_benchmark
multi_save_rgbir
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
@@ -261,7 +249,6 @@ install(TARGETS ${PROJECT_NAME} frame_latency
install(DIRECTORY include/ DESTINATION include)
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/)
install(DIRECTORY config DESTINATION share/${PROJECT_NAME}/)
install(DIRECTORY examples DESTINATION share/${PROJECT_NAME}/)
install(DIRECTORY ${ORBBEC_INCLUDE_DIR} DESTINATION include)
install(DIRECTORY ${ORBBEC_LIBS_DIR}/ DESTINATION lib/ FILES_MATCHING PATTERN "*.so*")
install(DIRECTORY ${ORBBEC_LIBS_DIR}/extensions DESTINATION lib/)
@@ -278,7 +265,7 @@ install(TARGETS list_devices_node
topic_statistics_node
metadata_save_files_node
metadata_export_files_node
ob_benchmark_node
multi_save_cloud_node
DESTINATION lib/${PROJECT_NAME}/)
if (BUILD_TESTING)
@@ -290,4 +277,4 @@ ament_export_include_directories(include ${ORBBEC_INCLUDE_DIR})
ament_export_libraries(${PROJECT_NAME})
ament_export_dependencies(${dependencies} ${ORBBEC_LIBS})
ament_package()
ament_package()