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Add depth to point cloud conversion using util functions

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RBT22
2024-04-03 12:58:34 +02:00
parent caab21ec1b
commit 746c317157
2 changed files with 41 additions and 29 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
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@@ -46,6 +46,7 @@
#include <image_transport/publisher.hpp>
#include <sensor_msgs/msg/imu.hpp>
#include "libobsensor/ObSensor.hpp"
#include "libobsensor/hpp/Utils.hpp"
#include "orbbec_camera_msgs/msg/device_info.hpp"
#include "orbbec_camera_msgs/srv/get_device_info.hpp"
@@ -396,6 +397,7 @@ class OBCameraNode {
std::string color_info_url_;
std::string ir_info_url_;
std::optional<OBCameraParam> camera_param_;
std::optional<OBCalibrationParam> calibration_param_;
bool enable_d2c_viewer_ = false;
std::unique_ptr<D2CViewer> d2c_viewer_ = nullptr;
std::map<stream_index_pair, std::atomic_bool> save_images_;