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修复colored_point_cloud

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jj
2024-09-05 13:51:46 +08:00
parent 12042209b2
commit 86424a338b
5 changed files with 5 additions and 8 deletions
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orbbec_camera/SDK/include/libobsensor/hpp/Pipeline.hpp
-1
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@@ -451,7 +451,6 @@ class Pipeline {
ob_error *error = nullptr;
OBCalibrationParam calibrationParam =
ob_pipeline_get_calibration_param(impl_, config->getImpl(), &error);
std::cout << "over" << std::endl;
Error::handle(&error);
return calibrationParam;
orbbec_camera/SDK/lib/x64/libOrbbecSDK.so
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orbbec_camera/launch/femto_mega.launch.py
+2 -2
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@@ -19,8 +19,8 @@ def generate_launch_description():
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='false'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='1280'),
orbbec_camera/launch/gemini_330_series.launch.py
+1 -1
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@@ -57,7 +57,7 @@ def generate_launch_description():
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_point_cloud', default_value='false'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('color_width', default_value='0'),
orbbec_camera/src/ob_camera_node.cpp
+2 -4
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@@ -1128,7 +1128,6 @@ void OBCameraNode::setupPipelineConfig() {
!isGemini335PID(pid)) {
OBAlignMode align_mode = align_mode_ == "HW" ? ALIGN_D2C_HW_MODE : ALIGN_D2C_SW_MODE;
RCLCPP_INFO_STREAM(logger_, "set align mode to " << magic_enum::enum_name(align_mode));
RCLCPP_INFO_STREAM(logger_, "jjjjj " << pipeline_config_);
calibration_param_ = pipeline_->getCalibrationParam(pipeline_config_);
pipeline_config_->setAlignMode(align_mode);
RCLCPP_INFO_STREAM(logger_, "enable depth scale " << (enable_depth_scale_ ? "ON" : "OFF"));
@@ -1402,11 +1401,10 @@ void OBCameraNode::publishColoredPointCloud(const std::shared_ptr<ob::FrameSet>
depth_height, color_width, color_height);
return;
}
RCLCPP_INFO_STREAM(logger_, "zzzzzzz" << pipeline_config_->getImpl());
if (!xy_tables_.has_value()) {
calibration_param_ = pipeline_->getCalibrationParam(pipeline_config_);
RCLCPP_INFO_STREAM(logger_, "jjjjjjjjjjjj" );
uint32_t table_size =
color_width * color_height * 2; // one for x-coordinate and one for y-coordinate LUT
@@ -2488,4 +2486,4 @@ orbbec_camera_msgs::msg::IMUInfo OBCameraNode::createIMUInfo(
return imu_info;
}
} // namespace orbbec_camera
} // namespace orbbec_camera