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fixed depth point cloud Y mirrored

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This commit is contained in:
Joe Dong
2024-09-30 15:54:33 +08:00
parent a1d3c2a176
commit 6f53ba8439
5 changed files with 76 additions and 29 deletions
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orbbec_camera/include/orbbec_camera/constants.h
+2
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@@ -112,6 +112,8 @@ const int32_t OPENNI_END_PID = 0x06FF;
const int32_t ASTRA_MINI_PID = 0x0404;
const int32_t ASTRA_MINI_S_PID = 0x0407;
const int GEMINI2_PID = 0x0670;
const int GEMINI2L_PID = 0x0673;
const int GEMINI2R_PID = 0x06d0;
const int GEMINI2RL_PID = 0x06d1;
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+5
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@@ -560,6 +560,11 @@ class OBCameraNode {
uint32_t xy_table_data_size_ = 0;
uint8_t* rgb_point_cloud_buffer_ = nullptr;
uint32_t rgb_point_cloud_buffer_size_ = 0;
std::optional<OBXYTables> depth_xy_tables_;
float* depth_xy_table_data_ = nullptr;
uint32_t depth_xy_table_data_size_ = 0;
uint8_t* depth_point_cloud_buffer_ = nullptr;
uint32_t depth_point_cloud_buffer_size_ = 0;
bool enable_3d_reconstruction_mode_ = false;
int min_depth_limit_ = 0;
int max_depth_limit_ = 0;