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Small fix

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默存
2022-10-10 18:04:09 +08:00
parent 77648772f2
commit 9803bcfde5
3 changed files with 34 additions and 11 deletions
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orbbec_camera/CMakeLists.txt
+13 -8
View File
@@ -19,7 +19,6 @@ find_package(ament_index_cpp REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(glog REQUIRED)
find_package(image_transport REQUIRED)
find_package(image_publisher REQUIRED)
find_package(magic_enum REQUIRED)
@@ -36,6 +35,12 @@ find_package(tf2_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_sensor_msgs REQUIRED)
find_package(Threads REQUIRED)
find_package(PkgConfig REQUIRED)
pkg_search_module(GLOG REQUIRED libglog)
if (NOT GLOG_FOUND)
message(FATAL_ERROR "glog is not found")
endif()
set(ORBBEC_LIBS ${CMAKE_CURRENT_SOURCE_DIR}/SDK/lib)
set(ORBBEC_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/SDK/include/)
@@ -81,6 +86,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
$<INSTALL_INTERFACE:include>
${ORBBEC_INCLUDE_DIR}
${OpenCV_INCLUDED_DIRS}
${GLOG_INCLUDED_DIRS}
)
@@ -88,7 +94,7 @@ target_link_libraries(${PROJECT_NAME}
${ORBBEC_SDK_LIBRARIES}
${OpenCV_LIBS}
Eigen3::Eigen
glog::glog
${GLOG_LIBRARIES}
magic_enum::magic_enum
-lOrbbecSDK
-L${ORBBEC_LIBS}
@@ -125,12 +131,11 @@ install(DIRECTORY
DESTINATION include
)
install(FILES
${ORBBEC_LIBS}/libOrbbecSDK.so
${ORBBEC_LIBS}/libOrbbecSDK.so.1.3
${ORBBEC_LIBS}/libOrbbecSDK.so.1.3.1
${ORBBEC_LIBS}/libpostfilter.so
DESTINATION lib
install(DIRECTORY
${ORBBEC_LIBS}/
DESTINATION lib/
FILES_MATCHING PATTERN "*.so"
PATTERN "*.so.*"
)
if (BUILD_TESTING)
orbbec_camera/include/orbbec_camera/ob_camera_node_factory.h
+2 -2
View File
@@ -43,7 +43,7 @@ class OBCameraNodeFactory : public rclcpp::Node {
void printDeviceInfo(const std::shared_ptr<ob::DeviceInfo>& device_info);
OBLogSeverity obLogSeverityFromString(const std::string& log_level);
static OBLogSeverity obLogSeverityFromString(const std::string& log_level);
private:
std::unique_ptr<ob::Context> ctx_;
@@ -58,7 +58,7 @@ class OBCameraNodeFactory : public rclcpp::Node {
double reconnect_timeout_ = 0.0;
double wait_for_device_timeout_ = 0.0;
std::shared_ptr<Parameters> parameters_;
std::string ob_log_level_;
std::string ob_log_level_str_;
};
} // namespace orbbec_camera
orbbec_camera/src/ob_camera_node_factory.cpp
+19 -1
View File
@@ -32,8 +32,11 @@ OBCameraNodeFactory::~OBCameraNodeFactory() {
query_thread_.join();
}
}
void OBCameraNodeFactory::init() {
ctx_->setLoggerSeverity(OB_LOG_SEVERITY_NONE);
ob_log_level_str_ = declare_parameter<std::string>("ob_log_level", "info");
auto ob_log_level = obLogSeverityFromString(ob_log_level_str_);
ctx_->setLoggerSeverity(ob_log_level);
is_alive_.store(true);
parameters_ = std::make_shared<Parameters>(this);
serial_number_ = declare_parameter<std::string>("serial_number", "");
@@ -123,6 +126,21 @@ void OBCameraNodeFactory::printDeviceInfo(const std::shared_ptr<ob::DeviceInfo>
RCLCPP_INFO_STREAM(logger_, "hardware version " << device_info->hardwareVersion());
}
OBLogSeverity OBCameraNodeFactory::obLogSeverityFromString(const std::string &log_level) {
if (log_level == "debug") {
return OBLogSeverity::OB_LOG_SEVERITY_DEBUG;
} else if (log_level == "info") {
return OBLogSeverity::OB_LOG_SEVERITY_INFO;
} else if (log_level == "warn") {
return OBLogSeverity::OB_LOG_SEVERITY_WARN;
} else if (log_level == "error") {
return OBLogSeverity::OB_LOG_SEVERITY_ERROR;
} else if (log_level == "fatal") {
return OBLogSeverity::OB_LOG_SEVERITY_FATAL;
} else {
return OBLogSeverity::OB_LOG_SEVERITY_INFO;
}
}
void OBCameraNodeFactory::getDevice(const std::shared_ptr<ob::DeviceList> &list) {
if (device_) {
return;