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Update accel_gyro_frame_id

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datean
2024-12-24 20:31:52 +08:00
parent 056185e901
commit 975219297c
2 changed files with 15 additions and 13 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1 -1
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@@ -353,7 +353,7 @@ class OBCameraNode {
std::unique_ptr<ob::Pipeline> imuPipeline_ = nullptr; std::unique_ptr<ob::Pipeline> imuPipeline_ = nullptr;
std::atomic_bool pipeline_started_{false}; std::atomic_bool pipeline_started_{false};
std::string camera_name_ = "camera"; std::string camera_name_ = "camera";
const std::string imu_optical_frame_id_ = "camera_gyro_optical_frame"; std::string accel_gyro_frame_id_ = "camera_accel_gyro_optical_frame";
const std::string imu_frame_id_ = "camera_gyro_frame"; const std::string imu_frame_id_ = "camera_gyro_frame";
std::shared_ptr<ob::Config> pipeline_config_ = nullptr; std::shared_ptr<ob::Config> pipeline_config_ = nullptr;
std::map<stream_index_pair, std::shared_ptr<ob::Sensor>> sensors_; std::map<stream_index_pair, std::shared_ptr<ob::Sensor>> sensors_;
orbbec_camera/src/ob_camera_node.cpp
+3 -1
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@@ -1039,6 +1039,8 @@ void OBCameraNode::getParameters() {
camera_name_ + "_" + stream_name_[COLOR] + "_optical_frame"; camera_name_ + "_" + stream_name_[COLOR] + "_optical_frame";
} }
accel_gyro_frame_id_ = camera_name_ + "_accel_gyro_optical_frame";
setAndGetNodeParameter(publish_tf_, "publish_tf", true); setAndGetNodeParameter(publish_tf_, "publish_tf", true);
setAndGetNodeParameter(tf_publish_rate_, "tf_publish_rate", 0.0); setAndGetNodeParameter(tf_publish_rate_, "tf_publish_rate", 0.0);
setAndGetNodeParameter(depth_registration_, "depth_registration", false); setAndGetNodeParameter(depth_registration_, "depth_registration", false);
@@ -2219,7 +2221,7 @@ void OBCameraNode::onNewIMUFrameSyncOutputCallback(const std::shared_ptr<ob::Fra
accel_info.header = imu_msg.header; accel_info.header = imu_msg.header;
imu_info_publishers_[ACCEL]->publish(accel_info); imu_info_publishers_[ACCEL]->publish(accel_info);
imu_msg.header.frame_id = imu_optical_frame_id_; imu_msg.header.frame_id = accel_gyro_frame_id_;
auto gyro_frame = gryoframe->as<ob::GyroFrame>(); auto gyro_frame = gryoframe->as<ob::GyroFrame>();
auto gyroData = gyro_frame->value(); auto gyroData = gyro_frame->value();