i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-06 04:57:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

updata libOrbbecSDK.so , ob_camera_node and CMakeLists.txt

Browse Source
This commit is contained in:
jj
2024-09-04 12:47:36 +08:00
parent 3cd3a7fdd3
commit 9f764c8e57
58 changed files with 6218 additions and 5345 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/src/utils.cpp
+16 -11
View File
@@ -58,7 +58,7 @@ sensor_msgs::msg::CameraInfo convertToCameraInfo(OBCameraIntrinsic intrinsic,
}
void saveRGBPointsToPly(const std::shared_ptr<ob::Frame> &frame, const std::string &fileName) {
size_t point_size = frame->dataSize() / sizeof(OBColorPoint);
size_t point_size = frame->getDataSize() / sizeof(OBColorPoint);
FILE *fp = fopen(fileName.c_str(), "wb+");
std::shared_ptr<int> fp_guard(nullptr, [&fp](int *) {
fflush(fp);
@@ -75,7 +75,7 @@ void saveRGBPointsToPly(const std::shared_ptr<ob::Frame> &frame, const std::stri
fprintf(fp, "property uchar blue\n");
fprintf(fp, "end_header\n");
const auto *points = (OBColorPoint *)frame->data();
const auto *points = (OBColorPoint *)frame->getData();
CHECK_NOTNULL(points);
for (size_t i = 0; i < point_size; i++) {
fprintf(fp, "%.3f %.3f %.3f %d %d %d\n", points[i].x, points[i].y, points[i].z,
@@ -172,7 +172,7 @@ void saveDepthPointsToPly(const sensor_msgs::msg::PointCloud2::UniquePtr &msg,
}
void savePointsToPly(const std::shared_ptr<ob::Frame> &frame, const std::string &fileName) {
size_t point_size = frame->dataSize() / sizeof(OBPoint);
size_t point_size = frame->getDataSize() / sizeof(OBPoint);
FILE *fp = fopen(fileName.c_str(), "wb+");
std::shared_ptr<int> fp_guard(nullptr, [&fp](int *) {
fflush(fp);
@@ -188,7 +188,7 @@ void savePointsToPly(const std::shared_ptr<ob::Frame> &frame, const std::string
fprintf(fp, "property float z\n");
fprintf(fp, "end_header\n");
const auto *points = (OBPoint *)frame->data();
const auto *points = (OBPoint *)frame->getData();
CHECK_NOTNULL(points);
for (size_t i = 0; i < point_size; i++) {
fprintf(fp, "%.3f %.3f %.3f\n", points[i].x, points[i].y, points[i].z);
@@ -338,9 +338,11 @@ OBFormat OBFormatFromString(const std::string &format) {
return OB_FORMAT_BYR2;
} else if (fixed_format == "RW16") {
return OB_FORMAT_RW16;
} else if (fixed_format == "DISP16") {
return OB_FORMAT_DISP16;
} else {
}
// else if (fixed_format == "DISP16") {
// return OB_FORMAT_DISP16;
// }
else {
return OB_FORMAT_UNKNOWN;
}
}
@@ -413,8 +415,8 @@ std::string OBFormatToString(const OBFormat &format) {
return "BYR2";
case OB_FORMAT_RW16:
return "RW16";
case OB_FORMAT_DISP16:
return "DISP16";
// case OB_FORMAT_DISP16:
// return "DISP16";
default:
return "UNKNOWN";
}
@@ -433,6 +435,9 @@ std::string ObDeviceTypeToString(const OBDeviceType &type) {
return "structured light monocular camera";
case OBDeviceType::OB_TOF_CAMERA:
return "tof camera";
default:
// 处理其他未预见的情况
break;
}
return "unknown technology camera";
}
@@ -715,11 +720,11 @@ std::string parseUsbPort(const std::string &line) {
}
bool isValidJPEG(const std::shared_ptr<ob::ColorFrame> &frame) {
if (frame->dataSize() < 2) { // Checking both start and end markers, so minimal size is 4
if (frame->getDataSize() < 2) { // Checking both start and end markers, so minimal size is 4
return false;
}
const auto *data = static_cast<const uint8_t *>(frame->data());
const auto *data = static_cast<const uint8_t *>(frame->getData());
// Check for JPEG start marker
if (data[0] != 0xFF || data[1] != 0xD8) {