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Using hardware timestamp when not OpenNI device

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This commit is contained in:
Joe Dong
2024-03-15 13:58:00 +08:00
parent 9a58a10820
commit 982b60cebd
2 changed files with 11 additions and 3 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+3 -3
View File
@@ -137,9 +137,8 @@ class OBCameraNode {
void clean(); void clean();
void startStreams(); void startStreams();
void startIMU();
void startIMU();
private: private:
struct IMUData { struct IMUData {
@@ -445,7 +444,7 @@ class OBCameraNode {
uint8_t* rgb_buffer_ = nullptr; uint8_t* rgb_buffer_ = nullptr;
bool is_color_frame_decoded_ = false; bool is_color_frame_decoded_ = false;
std::mutex device_lock_; std::mutex device_lock_;
//For color // For color
std::queue<std::shared_ptr<ob::FrameSet>> colorFrameQueue_; std::queue<std::shared_ptr<ob::FrameSet>> colorFrameQueue_;
std::shared_ptr<std::thread> colorFrameThread_ = nullptr; std::shared_ptr<std::thread> colorFrameThread_ = nullptr;
std::mutex colorFrameMtx_; std::mutex colorFrameMtx_;
@@ -454,5 +453,6 @@ class OBCameraNode {
bool ordered_pc_ = false; bool ordered_pc_ = false;
bool use_hardware_time_ = false; bool use_hardware_time_ = false;
bool enable_depth_scale_ = true; bool enable_depth_scale_ = true;
bool is_openni_device_ = false;
}; };
} // namespace orbbec_camera } // namespace orbbec_camera
orbbec_camera/src/ob_camera_node.cpp
+8
View File
@@ -606,6 +606,14 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(max_save_images_count_, "max_save_images_count", 10); setAndGetNodeParameter<int>(max_save_images_count_, "max_save_images_count", 10);
setAndGetNodeParameter<bool>(use_hardware_time_, "use_hardware_time", false); setAndGetNodeParameter<bool>(use_hardware_time_, "use_hardware_time", false);
setAndGetNodeParameter<bool>(enable_depth_scale_, "enable_depth_scale", true); setAndGetNodeParameter<bool>(enable_depth_scale_, "enable_depth_scale", true);
auto info = device_->getDeviceInfo();
is_openni_device_ = isOpenNIDevice(info->pid());
if (is_openni_device_) {
RCLCPP_INFO_STREAM(logger_, "OpenNI device detected.");
use_hardware_time_ = false;
}else {
use_hardware_time_ = true;
}
} }
void OBCameraNode::setupTopics() { void OBCameraNode::setupTopics() {