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Merge branch 'lyrical' into v2/develop

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This commit is contained in:
ob-yalian
2026-08-11 09:40:08 +08:00
parent 5cfb1fa7f2 68ab64f035
commit 8679784600
29 changed files with 669 additions and 122 deletions
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orbbec_camera/src/ob_camera_node.cpp
Regular → Executable
+27 -10
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@@ -27,6 +27,7 @@
#include <unordered_map>
#include <unordered_set>
#include <vector>
#include <magic_enum/magic_enum.hpp>
#include "orbbec_camera/utils.h"
#include <filesystem>
@@ -451,8 +452,7 @@ void OBCameraNode::publishDepthFiltersStatus() {
depth_filters_snapshot = depth_filter_list_;
}
auto find_depth_filter = [&depth_filters_snapshot,
this](const std::string &filter_name) -> std::shared_ptr<ob::Filter> {
auto find_depth_filter = [&depth_filters_snapshot](const std::string &filter_name) -> std::shared_ptr<ob::Filter> {
const auto normalized_name = normalizeDepthFilterName(filter_name);
auto it = std::find_if(depth_filters_snapshot.begin(), depth_filters_snapshot.end(),
[&normalized_name](const auto &filter) {
@@ -5316,15 +5316,32 @@ void OBCameraNode::publishConfidenceFrame(const std::shared_ptr<ob::Frame> &conf
}
void OBCameraNode::setupCameraInfo() {
std::string color_camera_name = camera_name_ + "_color";
const auto create_camera_info_manager = [this](const std::string &camera_name,
const std::string &camera_info_url) {
#ifdef ORBBEC_CAMERA_INFO_MANAGER_USES_NODE_INTERFACES
#ifdef ORBBEC_CAMERA_INFO_MANAGER_USES_RCLCPP_QOS
return std::make_unique<camera_info_manager::CameraInfoManager>(
node_->get_node_base_interface(), node_->get_node_services_interface(),
node_->get_node_logging_interface(), camera_name, camera_info_url,
rclcpp::SystemDefaultsQoS());
#else
return std::make_unique<camera_info_manager::CameraInfoManager>(
node_->get_node_base_interface(), node_->get_node_services_interface(),
node_->get_node_logging_interface(), camera_name, camera_info_url, rmw_qos_profile_default);
#endif
#else
return std::make_unique<camera_info_manager::CameraInfoManager>(node_, camera_name,
camera_info_url);
#endif
};
const std::string color_camera_name = camera_name_ + "_color";
if (!color_info_url_.empty()) {
color_info_manager_ = std::make_unique<camera_info_manager::CameraInfoManager>(
node_, color_camera_name, color_info_url_);
color_info_manager_ = create_camera_info_manager(color_camera_name, color_info_url_);
}
std::string ir_camera_name = camera_name_ + "_ir";
const std::string ir_camera_name = camera_name_ + "_ir";
if (!ir_info_url_.empty()) {
ir_info_manager_ = std::make_unique<camera_info_manager::CameraInfoManager>(
node_, ir_camera_name, ir_info_url_);
ir_info_manager_ = create_camera_info_manager(ir_camera_name, ir_info_url_);
}
}
@@ -7292,8 +7309,8 @@ void OBCameraNode::publishStaticTransforms() {
if (!publish_tf_) {
return;
}
static_tf_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(node_);
dynamic_tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(node_);
static_tf_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(*node_);
dynamic_tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(*node_);
calcAndPublishStaticTransform();
if (tf_publish_rate_ > 0) {
tf_thread_ = std::make_shared<std::thread>([this]() { publishDynamicTransforms(); });