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Update the point cloud y axis

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This commit is contained in:
jj
2025-06-11 14:07:11 +08:00
parent 86669cfdc7
commit 721d07d1fb
3 changed files with 29 additions and 10 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+23 -5
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@@ -105,7 +105,9 @@ OBCameraNodeDriver::~OBCameraNodeDriver() {
reset_device_cond_.notify_all();
reset_device_thread_->join();
}
ob_camera_node_->stopGmslTrigger();
if (ob_camera_node_) {
ob_camera_node_->stopGmslTrigger();
}
if (orb_device_lock_shm_fd_ != -1) {
close(orb_device_lock_shm_fd_);
orb_device_lock_shm_fd_ = -1;
@@ -247,6 +249,8 @@ void OBCameraNodeDriver::checkConnectTimer() {
return;
} else if (!ob_camera_node_) {
device_connected_.store(false);
} else if (!ob_lidar_node_) {
device_connected_.store(false);
}
}
@@ -278,8 +282,11 @@ void OBCameraNodeDriver::resetDevice() {
RCLCPP_INFO_STREAM(logger_, "resetDevice : Reset device uid: " << device_unique_id_);
std::lock_guard<decltype(device_lock_)> device_lock(device_lock_);
{
ob_camera_node_.reset();
ob_lidar_node_.reset();
if (ob_camera_node_) {
ob_camera_node_.reset();
} else if (ob_lidar_node_) {
ob_lidar_node_.reset();
}
device_.reset();
device_info_.reset();
device_connected_ = false;
@@ -300,7 +307,12 @@ void OBCameraNodeDriver::rebootDeviceCallback(
return;
}
RCLCPP_INFO(logger_, "Reboot device");
ob_camera_node_->rebootDevice();
if (ob_camera_node_) {
ob_camera_node_->rebootDevice();
} else if (ob_lidar_node_) {
ob_lidar_node_->rebootDevice();
}
device_connected_ = false;
device_ = nullptr;
}
@@ -438,6 +450,8 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
CHECK_NOTNULL(device_.get());
if (ob_camera_node_) {
ob_camera_node_.reset();
} else if (ob_lidar_node_) {
ob_lidar_node_.reset();
}
int retry_count = 0;
constexpr int max_retries = 3;
@@ -757,7 +771,11 @@ void OBCameraNodeDriver::firmwareUpdateCallback(OBFwUpdateState state, const cha
std::cout << "Message : " << message << std::endl << std::flush;
if (state == STAT_DONE) {
RCLCPP_INFO(logger_, "Reboot device");
ob_camera_node_->rebootDevice();
if (ob_camera_node_) {
ob_camera_node_.reset();
} else if (ob_lidar_node_) {
ob_lidar_node_.reset();
}
device_connected_ = false;
upgrade_firmware_ = "";
}