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remove unused tf

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This commit is contained in:
Joe Dong
2023-09-05 18:06:52 +08:00
parent f6b9551320
commit 7e81252644
1 changed files with 9 additions and 14 deletions
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orbbec_camera/src/ob_camera_node.cpp
+9 -14
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@@ -1011,21 +1011,16 @@ void OBCameraNode::calcAndPublishStaticTransform() {
rclcpp::Time tf_timestamp = node_->now(); rclcpp::Time tf_timestamp = node_->now();
publishStaticTF(tf_timestamp, trans, Q, frame_id_[DEPTH], frame_id_[COLOR]); publishStaticTF(tf_timestamp, trans, Q, frame_id_[DEPTH], frame_id_[COLOR]);
publishStaticTF(tf_timestamp, zero_trans, quaternion_optical, frame_id_[COLOR],
optical_frame_id_[COLOR]);
publishStaticTF(tf_timestamp, zero_trans, quaternion_optical, frame_id_[DEPTH],
optical_frame_id_[DEPTH]);
publishStaticTF(tf_timestamp, zero_trans, quaternion_optical, frame_id_[ACCEL],
optical_frame_id_[ACCEL]);
publishStaticTF(tf_timestamp, zero_trans, quaternion_optical, frame_id_[GYRO],
optical_frame_id_[GYRO]);
publishStaticTF(tf_timestamp, zero_trans, quaternion_optical, frame_id_[INFRA0],
optical_frame_id_[INFRA0]);
publishStaticTF(tf_timestamp, zero_trans, zero_rot, camera_link_frame_id_, frame_id_[DEPTH]);
publishStaticTF(tf_timestamp, zero_trans, zero_rot, camera_link_frame_id_, frame_id_[INFRA0]);
publishStaticTF(tf_timestamp, trans, Q, camera_link_frame_id_, frame_id_[COLOR]); publishStaticTF(tf_timestamp, trans, Q, camera_link_frame_id_, frame_id_[COLOR]);
publishStaticTF(tf_timestamp, zero_trans, zero_rot, camera_link_frame_id_, frame_id_[ACCEL]); for (const auto &stream_index : IMAGE_STREAMS) {
publishStaticTF(tf_timestamp, zero_trans, zero_rot, camera_link_frame_id_, frame_id_[GYRO]); if (stream_index == COLOR || !enable_stream_[stream_index]) {
continue;
}
publishStaticTF(tf_timestamp, zero_trans, zero_rot, camera_link_frame_id_,
frame_id_[stream_index]);
publishStaticTF(tf_timestamp, zero_trans, quaternion_optical, frame_id_[stream_index],
optical_frame_id_[stream_index]);
}
} }
void OBCameraNode::publishStaticTransforms() { void OBCameraNode::publishStaticTransforms() {