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chore: Add time domain params

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This commit is contained in:
Joe Dong
2024-07-17 16:56:52 +08:00
parent 7b28c3284a
commit 905b13c877
8 changed files with 76 additions and 34 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+7 -1
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@@ -294,6 +294,8 @@ class OBCameraNode {
std::shared_ptr<ob::Frame> processDepthFrameFilter(std::shared_ptr<ob::Frame>& frame);
uint64_t getFrameTimestampUs(const std::shared_ptr<ob::Frame> & frame);
void onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set);
std::shared_ptr<ob::Frame> softwareDecodeColorFrame(const std::shared_ptr<ob::Frame>& frame);
@@ -471,6 +473,7 @@ class OBCameraNode {
int trigger2image_delay_us_ = 0;
int trigger_out_delay_us_ = 0;
bool trigger_out_enabled_ = false;
int frames_per_trigger_ = 2;
std::string depth_precision_str_;
OB_DEPTH_PRECISION_LEVEL depth_precision_ = OB_PRECISION_0MM8;
double depth_precision_float_ = 0.10;
@@ -498,7 +501,6 @@ class OBCameraNode {
std::condition_variable color_frame_queue_cv_;
bool ordered_pc_ = false;
bool use_hardware_time_ = true;
bool enable_depth_scale_ = true;
std::shared_ptr<ob::Frame> depth_frame_ = nullptr;
std::string device_preset_ = "Default";
@@ -552,5 +554,9 @@ class OBCameraNode {
bool enable_3d_reconstruction_mode_ = false;
int min_depth_limit_ = 0;
int max_depth_limit_ = 0;
std::string time_domain_ = "device"; // device, system, global
// soft ware trigger
rclcpp::TimerBase::SharedPtr software_trigger_timer_;
std::chrono::milliseconds software_trigger_period_{33};
};
} // namespace orbbec_camera
orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h
+1
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@@ -97,5 +97,6 @@ class OBCameraNodeDriver : public rclcpp::Node {
std::string net_device_ip_;
int net_device_port_ = 0;
int connection_delay_ = 100;
bool enable_sync_host_time_ = true;
};
} // namespace orbbec_camera