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Add enable_3d_reconstruction_mode params for 3d reconstruction scenario

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This commit is contained in:
Joe Dong
2024-07-09 13:55:34 +08:00
parent 51bf9ecb33
commit a5a81d1791
7 changed files with 110 additions and 26 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1
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@@ -545,5 +545,6 @@ class OBCameraNode {
uint32_t xy_table_data_size_ = 0;
uint8_t* rgb_point_cloud_buffer_ = nullptr;
uint32_t rgb_point_cloud_buffer_size_ = 0;
bool enable_3d_reconstruction_mode_ = false;
};
} // namespace orbbec_camera
orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h
-3
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@@ -62,8 +62,6 @@ class OBCameraNodeDriver : public rclcpp::Node {
void queryDevice();
void syncTime();
void resetDevice();
private:
@@ -85,7 +83,6 @@ class OBCameraNodeDriver : public rclcpp::Node {
std::recursive_mutex device_lock_;
int device_num_ = 1;
rclcpp::TimerBase::SharedPtr check_connect_timer_ = nullptr;
std::shared_ptr<std::thread> sync_time_thread_ = nullptr;
std::shared_ptr<std::thread> reset_device_thread_ = nullptr;
std::mutex reset_device_mutex_;
std::condition_variable reset_device_cond_;