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chore: add gemini_intra_process_demo

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This commit is contained in:
Joe Dong
2024-08-27 17:58:12 +08:00
parent 0408917d94
commit 5f231a8eb8
13 changed files with 652 additions and 56 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+4 -1
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@@ -27,6 +27,7 @@
namespace orbbec_camera {
OBCameraNodeDriver::OBCameraNodeDriver(const rclcpp::NodeOptions &node_options)
: Node("orbbec_camera_node", "/", node_options),
node_options_(node_options),
config_path_(ament_index_cpp::get_package_share_directory("orbbec_camera") +
"/config/OrbbecSDKConfig_v1.0.xml"),
ctx_(std::make_unique<ob::Context>(config_path_.c_str())),
@@ -37,6 +38,7 @@ OBCameraNodeDriver::OBCameraNodeDriver(const rclcpp::NodeOptions &node_options)
OBCameraNodeDriver::OBCameraNodeDriver(const std::string &node_name, const std::string &ns,
const rclcpp::NodeOptions &node_options)
: Node(node_name, ns, node_options),
node_options_(node_options),
ctx_(std::make_unique<ob::Context>()),
logger_(this->get_logger()) {
init();
@@ -311,7 +313,8 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
if (ob_camera_node_) {
ob_camera_node_.reset();
}
ob_camera_node_ = std::make_unique<OBCameraNode>(this, device_, parameters_);
ob_camera_node_ = std::make_unique<OBCameraNode>(this, device_, parameters_,
node_options_.use_intra_process_comms());
ob_camera_node_->startIMU();
ob_camera_node_->startStreams();
device_connected_ = true;