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remove unused static TF

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This commit is contained in:
Joe Dong
2024-04-07 11:48:22 +08:00
parent 6ae5628b8d
commit 9a1c6cdec6
2 changed files with 3 additions and 7 deletions
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orbbec_camera/launch/gemini2R.launch.py
+3 -1
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@@ -13,13 +13,15 @@ def generate_launch_description():
# Declare arguments # Declare arguments
args = [ args = [
DeclareLaunchArgument('camera_name', default_value='camera'), DeclareLaunchArgument('camera_name', default_value='camera'),
DeclareLaunchArgument('depth_registration', default_value='false'), DeclareLaunchArgument('depth_registration', default_value='true'),
DeclareLaunchArgument('serial_number', default_value=''), DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''), DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'), DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'), DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''), DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'), DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'),
DeclareLaunchArgument('connection_delay', default_value='100'), DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='1280'), DeclareLaunchArgument('color_width', default_value='1280'),
DeclareLaunchArgument('color_height', default_value='720'), DeclareLaunchArgument('color_height', default_value='720'),
orbbec_camera/src/ob_camera_node.cpp
-6
View File
@@ -1514,12 +1514,6 @@ void OBCameraNode::calcAndPublishStaticTransform() {
publishStaticTF(timestamp, trans, Q, camera_link_frame_id_, frame_id_[stream_index]); publishStaticTF(timestamp, trans, Q, camera_link_frame_id_, frame_id_[stream_index]);
publishStaticTF(timestamp, zero_trans, quaternion_optical, frame_id_[stream_index], publishStaticTF(timestamp, zero_trans, quaternion_optical, frame_id_[stream_index],
optical_frame_id_[stream_index]); optical_frame_id_[stream_index]);
if (depth_registration_ && depth_aligned_frame_id_.count(stream_index) > 0) {
publishStaticTF(timestamp, trans, Q, camera_link_frame_id_,
depth_aligned_frame_id_[stream_index]);
publishStaticTF(timestamp, zero_trans, quaternion_optical,
depth_aligned_frame_id_[stream_index], optical_frame_id_[stream_index]);
}
} }
} }