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Update orbbecsdk library to 1.8.2

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lixiaobin
2023-11-23 14:56:39 +08:00
parent 05b717c955
commit a7e29926fa
7 changed files with 11 additions and 5 deletions
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orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.8
+1 -1
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@@ -1 +1 @@
libOrbbecSDK.so.1.8.1
libOrbbecSDK.so.1.8.2
orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.8.1 → orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.8.2
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orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.8
+1 -1
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@@ -1 +1 @@
libOrbbecSDK.so.1.8.1
libOrbbecSDK.so.1.8.2
orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.8.1 → orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.8.2
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orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.8
+1 -1
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@@ -1 +1 @@
libOrbbecSDK.so.1.8.1
libOrbbecSDK.so.1.8.2
orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.8.1 → orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.8.2
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orbbec_camera/src/ob_camera_node.cpp
+8 -2
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@@ -415,7 +415,6 @@ void OBCameraNode::getParameters() {
camera_name_ + "_" + stream_name_[stream_index] + "_optical_frame";
param_name = stream_name_[stream_index] + "_optical_frame_id";
setAndGetNodeParameter(optical_frame_id_[stream_index], param_name, default_optical_frame_id);
depth_aligned_frame_id_[stream_index] = stream_name_[COLOR] + "_optical_frame";
param_name = stream_name_[stream_index] + "_format";
setAndGetNodeParameter(format_str_[stream_index], param_name, format_str_[stream_index]);
format_[stream_index] = OBFormatFromString(format_str_[stream_index]);
@@ -443,6 +442,10 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<std::string>(camera_info_qos_[stream_index], param_name, "default");
}
for (auto stream_index : IMAGE_STREAMS) {
depth_aligned_frame_id_[stream_index] = optical_frame_id_[COLOR];
}
for (const auto &stream_index : HID_STREAMS) {
std::string param_name = stream_name_[stream_index] + "_qos";
setAndGetNodeParameter<std::string>(imu_qos_[stream_index], param_name, "default");
@@ -677,8 +680,11 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &f
point_cloud_msg_.height = 1;
modifier.resize(valid_count);
}
std::string frame_id =
depth_registration_ ? depth_aligned_frame_id_[COLOR] : optical_frame_id_[DEPTH];
point_cloud_msg_.header.stamp = timestamp;
point_cloud_msg_.header.frame_id = optical_frame_id_[DEPTH];
point_cloud_msg_.header.frame_id = frame_id;
depth_cloud_pub_->publish(point_cloud_msg_);
if (save_point_cloud_) {