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update depth precision setting

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This commit is contained in:
Joe Dong
2024-04-15 09:59:56 +08:00
parent 39fbe99c7b
commit 9ad7b9f133
6 changed files with 44 additions and 1 deletions
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orbbec_camera/include/orbbec_camera/constants.h
+3
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@@ -113,6 +113,9 @@ const int32_t ASTRA_MINI_S_PID = 0x0407;
const int GEMINI2_PID = 0x0670;
const int GEMINI2R_PID = 0x06d0;
const int GEMINI2RL_PID = 0x06d1;
const int GEMINI2R_PID2 = 0x0800;
const int GEMINI2RL_PID2 = 0x0804;
const std::string ORB_DEFAULT_LOCK_NAME = "orbbec_device_lock";
} // namespace orbbec_camera
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1
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@@ -451,6 +451,7 @@ class OBCameraNode {
bool trigger_out_enabled_ = false;
std::string depth_precision_str_;
OB_DEPTH_PRECISION_LEVEL depth_precision_ = OB_PRECISION_0MM8;
double depth_precision_float_ = 0.10;
// IMU
std::map<stream_index_pair, rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr> imu_publishers_;
rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imu_gyro_accel_publisher_;
orbbec_camera/include/orbbec_camera/utils.h
+4
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@@ -65,6 +65,8 @@ bool isOpenNIDevice(int pid);
OB_DEPTH_PRECISION_LEVEL depthPrecisionLevelFromString(
const std::string& depth_precision_level_str);
float depthPrecisionFromString(const std::string &depth_precision_level_str) ;
OBMultiDeviceSyncMode OBSyncModeFromString(const std::string& mode);
OB_SAMPLE_RATE sampleRateFromString(std::string& sample_rate);
@@ -87,4 +89,6 @@ std::string metaDataTypeToString(const OBFrameMetadataType& meta_data_type);
OBHoleFillingMode holeFillingModeFromString(const std::string& hole_filling_mode);
bool isGemini2R(int pid);
} // namespace orbbec_camera