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chore: Add enable_color_undistortion param

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This commit is contained in:
Joe Dong
2024-07-31 14:30:54 +08:00
parent 9a3c415b70
commit 87c6ee7d97
7 changed files with 60 additions and 13 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+4 -1
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@@ -338,6 +338,8 @@ class OBCameraNode {
static bool isGemini335PID(uint32_t pid);
void setupDepthPostProcessFilter();
private:
rclcpp::Node* node_ = nullptr;
std::shared_ptr<ob::Device> device_ = nullptr;
@@ -561,6 +563,7 @@ class OBCameraNode {
rclcpp::TimerBase::SharedPtr software_trigger_timer_;
std::chrono::milliseconds software_trigger_period_{33};
bool enable_heartbeat_ = false;
void setupDepthPostProcessFilter();
bool enable_color_undistortion_ = false;
image_transport::Publisher color_undistortion_publisher_;
};
} // namespace orbbec_camera
orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h
-1
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@@ -93,7 +93,6 @@ class OBCameraNodeDriver : public rclcpp::Node {
std::condition_variable reset_device_cond_;
std::atomic_bool reset_device_flag_{false};
pthread_mutex_t* orb_device_lock_ = nullptr;
sem_t* orb_device_sem_ = nullptr;
pthread_mutexattr_t orb_device_lock_attr_;
uint8_t* orb_device_lock_shm_addr_ = nullptr;
int orb_device_lock_shm_fd_ = -1;
orbbec_camera/include/orbbec_camera/utils.h
+15 -11
View File
@@ -26,10 +26,10 @@
#include "orbbec_camera_msgs/msg/extrinsics.hpp"
#include "magic_enum/magic_enum.hpp"
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <opencv2/opencv.hpp>
namespace orbbec_camera {
inline void LogFatal(const char *file, int line, const std::string &message) {
inline void LogFatal(const char* file, int line, const std::string& message) {
std::cerr << "Check failed at " << file << ":" << line << ": " << message << std::endl;
std::abort();
}
@@ -40,7 +40,7 @@ inline void LogFatal(const char *file, int line, const std::string &message) {
(!(condition) ? LogFatal(__FILE__, __LINE__, "Check failed: " #condition) : (void)0)
template <typename T1, typename T2>
void CheckOp(const char *expr, const char *file, int line, T1 val1, T2 val2, bool result) {
void CheckOp(const char* expr, const char* file, int line, T1 val1, T2 val2, bool result) {
if (!result) {
std::ostringstream os;
os << "Check failed: " << expr << " (" << val1 << " vs. " << val2 << ")";
@@ -60,7 +60,7 @@ void CheckOp(const char *expr, const char *file, int line, T1 val1, T2 val2, boo
// Overload for raw pointers
template <typename T>
T *CheckNotNull(T *ptr, const char *file, int line) {
T* CheckNotNull(T* ptr, const char* file, int line) {
if (ptr == nullptr) {
std::ostringstream os;
os << "Null pointer passed to CheckNotNull at " << file << ":" << line;
@@ -71,7 +71,7 @@ T *CheckNotNull(T *ptr, const char *file, int line) {
// Template for smart pointers like std::shared_ptr, std::unique_ptr
template <typename T>
T &CheckNotNull(T &ptr, const char *file, int line) {
T& CheckNotNull(T& ptr, const char* file, int line) {
if (ptr == nullptr) {
std::ostringstream os;
os << "Null pointer passed to CheckNotNull at " << file << ":" << line;
@@ -94,7 +94,8 @@ void saveRGBPointsToPly(const std::shared_ptr<ob::Frame>& frame, const std::stri
void saveRGBPointCloudMsgToPly(const sensor_msgs::msg::PointCloud2::UniquePtr& msg,
const std::string& fileName);
void saveDepthPointsToPly(const sensor_msgs::msg::PointCloud2::UniquePtr& msg, const std::string& fileName);
void saveDepthPointsToPly(const sensor_msgs::msg::PointCloud2::UniquePtr& msg,
const std::string& fileName);
void savePointsToPly(const std::shared_ptr<ob::Frame>& frame, const std::string& fileName);
@@ -115,7 +116,7 @@ OBFormat OBFormatFromString(const std::string& format);
std::string OBFormatToString(const OBFormat& format);
std::ostream &operator<<(std::ostream &os, const OBFormat &rhs);
std::ostream& operator<<(std::ostream& os, const OBFormat& rhs);
std::string ObDeviceTypeToString(const OBDeviceType& type);
@@ -134,19 +135,19 @@ OB_SAMPLE_RATE sampleRateFromString(std::string& sample_rate);
std::string sampleRateToString(const OB_SAMPLE_RATE& sample_rate);
std::ostream &operator<<(std::ostream &os, const OB_SAMPLE_RATE &rhs);
std::ostream& operator<<(std::ostream& os, const OB_SAMPLE_RATE& rhs);
OB_GYRO_FULL_SCALE_RANGE fullGyroScaleRangeFromString(std::string& full_scale_range);
std::string fullGyroScaleRangeToString(const OB_GYRO_FULL_SCALE_RANGE& full_scale_range);
std::ostream &operator<<(std::ostream &os, const OB_GYRO_FULL_SCALE_RANGE &rhs);
std::ostream& operator<<(std::ostream& os, const OB_GYRO_FULL_SCALE_RANGE& rhs);
OBAccelFullScaleRange fullAccelScaleRangeFromString(std::string& full_scale_range);
std::string fullAccelScaleRangeToString(const OBAccelFullScaleRange& full_scale_range);
std::ostream &operator<<(std::ostream &os, const OBAccelFullScaleRange &rhs);
std::ostream& operator<<(std::ostream& os, const OBAccelFullScaleRange& rhs);
std::string parseUsbPort(const std::string& line);
@@ -154,7 +155,7 @@ bool isValidJPEG(const std::shared_ptr<ob::ColorFrame>& frame);
std::string metaDataTypeToString(const OBFrameMetadataType& meta_data_type);
std::ostream &operator<<(std::ostream &os, const OBFrameMetadataType &rhs);
std::ostream& operator<<(std::ostream& os, const OBFrameMetadataType& rhs);
OBHoleFillingMode holeFillingModeFromString(const std::string& hole_filling_mode);
@@ -162,4 +163,7 @@ bool isGemini2R(int pid);
OBStreamType obStreamTypeFromString(const std::string& stream_type);
cv::Mat undistortImage(const cv::Mat& image, const OBCameraIntrinsic& intrinsic,
const OBCameraDistortion& distortion);
} // namespace orbbec_camera