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remove point cloud filter

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This commit is contained in:
Joe Dong
2023-09-07 16:09:35 +08:00
parent 436bda54e2
commit a5535ee1f0
5 changed files with 221 additions and 98 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+3 -1
View File
@@ -267,6 +267,8 @@ class OBCameraNode {
std::shared_ptr<ob::Frame> softwareDecodeColorFrame(const std::shared_ptr<ob::Frame>& frame);
bool decodeColorFrameToBuffer(const std::shared_ptr<ob::Frame>& frame, uint8_t* buffer);
void onNewFrameCallback(const std::shared_ptr<ob::Frame>& frame,
const stream_index_pair& stream_index);
@@ -361,7 +363,6 @@ class OBCameraNode {
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr depth_cloud_pub_;
bool enable_point_cloud_ = true;
bool enable_colored_point_cloud_ = false;
ob::PointCloudFilter point_cloud_filter_;
sensor_msgs::msg::PointCloud2 point_cloud_msg_;
orbbec_camera_msgs::msg::DeviceInfo device_info_;
@@ -413,5 +414,6 @@ class OBCameraNode {
// mjpeg decoder
std::shared_ptr<MjpegDecoder> mjpeg_decoder_ = nullptr;
uint8_t* rgb_buffer_ = nullptr;
bool is_color_frame_decoded_ = false;
};
} // namespace orbbec_camera
orbbec_camera/include/orbbec_camera/utils.h
+6 -3
View File
@@ -22,6 +22,7 @@
#include "sensor_msgs/msg/camera_info.hpp"
#include "orbbec_camera_msgs/msg/extrinsics.hpp"
#include "magic_enum/magic_enum.hpp"
#include <sensor_msgs/msg/point_cloud2.hpp>
namespace orbbec_camera {
sensor_msgs::msg::CameraInfo convertToCameraInfo(OBCameraIntrinsic intrinsic,
@@ -29,6 +30,8 @@ sensor_msgs::msg::CameraInfo convertToCameraInfo(OBCameraIntrinsic intrinsic,
void saveRGBPointsToPly(const std::shared_ptr<ob::Frame>& frame, const std::string& fileName);
void soavePointCloudMsgToPly(const sensor_msgs::msg::PointCloud2& msg, const std::string& fileName);
void savePointsToPly(const std::shared_ptr<ob::Frame>& frame, const std::string& fileName);
tf2::Quaternion rotationMatrixToQuaternion(const float rotation[9]);
@@ -57,15 +60,15 @@ OBMultiDeviceSyncMode OBSyncModeFromString(const std::string& mode);
OB_SAMPLE_RATE sampleRateFromString(std::string& sample_rate);
std::string sampleRateToString(const OB_SAMPLE_RATE &sample_rate);
std::string sampleRateToString(const OB_SAMPLE_RATE& sample_rate);
OB_GYRO_FULL_SCALE_RANGE fullGyroScaleRangeFromString(std::string& full_scale_range);
std::string fullGyroScaleRangeToString(const OB_GYRO_FULL_SCALE_RANGE &full_scale_range);
std::string fullGyroScaleRangeToString(const OB_GYRO_FULL_SCALE_RANGE& full_scale_range);
OBAccelFullScaleRange fullAccelScaleRangeFromString(std::string& full_scale_range);
std::string fullAccelScaleRangeToString(const OBAccelFullScaleRange &full_scale_range);
std::string fullAccelScaleRangeToString(const OBAccelFullScaleRange& full_scale_range);
std::string parseUsbPort(const std::string& line);