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add use hardware time option

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This commit is contained in:
Joe Dong
2024-02-02 10:10:57 +08:00
parent 754e2eae53
commit 689a527137
31 changed files with 38 additions and 6 deletions
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orbbec_camera/src/ob_camera_node.cpp
+3 -2
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@@ -604,6 +604,7 @@ 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);
}
void OBCameraNode::setupTopics() {
@@ -1130,8 +1131,8 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
}
int width = static_cast<int>(video_frame->width());
int height = static_cast<int>(video_frame->height());
auto timestamp = frameTimeStampToROSTime(video_frame->systemTimeStamp());
auto frame_time_stamp = use_hardware_time_?video_frame->timeStamp():video_frame->systemTimeStamp();
auto timestamp = frameTimeStampToROSTime(frame_time_stamp);
if (!camera_param_) {
camera_param_ = pipeline_->getCameraParam();
}