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Fix foxy build error

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This commit is contained in:
jj
2024-10-23 11:08:07 +08:00
parent a508cf6540
commit b3dbed64d5
3 changed files with 17 additions and 17 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+3 -2
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@@ -64,6 +64,7 @@
#include "jpeg_decoder.h" #include "jpeg_decoder.h"
#include <std_msgs/msg/string.hpp> #include <std_msgs/msg/string.hpp>
#include <fcntl.h> #include <fcntl.h>
#include <unistd.h>
#if defined(ROS_JAZZY) || defined(ROS_IRON) #if defined(ROS_JAZZY) || defined(ROS_IRON)
#include <cv_bridge/cv_bridge.hpp> #include <cv_bridge/cv_bridge.hpp>
@@ -133,8 +134,8 @@ const std::map<OBStreamType, OBFrameType> STREAM_TYPE_TO_FRAME_TYPE = {
}; };
typedef struct { typedef struct {
uint8_t mode; uint8_t mode;
uint16_t fps; uint16_t fps;
} cs_param_t; } cs_param_t;
class OBCameraNode { class OBCameraNode {
orbbec_camera/tools/metadata_export_files.hpp
+11 -10
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@@ -67,7 +67,9 @@ class MetadataExportFiles : public rclcpp::Node {
} }
void load_parameters() { void load_parameters() {
std::ifstream file("install/orbbec_camera/share/orbbec_camera/config/metadataexport/metadata_export_params.json"); std::ifstream file(
"install/orbbec_camera/share/orbbec_camera/config/metadataexport/"
"metadata_export_params.json");
if (!file.is_open()) { if (!file.is_open()) {
RCLCPP_ERROR(this->get_logger(), "Failed to open JSON file."); RCLCPP_ERROR(this->get_logger(), "Failed to open JSON file.");
return; return;
@@ -106,8 +108,7 @@ class MetadataExportFiles : public rclcpp::Node {
left_ir_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>( left_ir_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(
MySyncPolicy(10), *left_ir_image_sub_, *left_ir_metadata_sub_); MySyncPolicy(10), *left_ir_image_sub_, *left_ir_metadata_sub_);
left_ir_sync_->setMaxIntervalDuration( left_ir_sync_->setMaxIntervalDuration(rclcpp::Duration(0, 100 * 1000000)); // 100 ms
rclcpp::Duration::from_nanoseconds(100000000LL)); // 100 ms
left_ir_sync_->registerCallback( left_ir_sync_->registerCallback(
std::bind(&MetadataExportFiles::left_ir_metadata_sync_callback, this, _1, _2)); std::bind(&MetadataExportFiles::left_ir_metadata_sync_callback, this, _1, _2));
@@ -120,8 +121,7 @@ class MetadataExportFiles : public rclcpp::Node {
right_ir_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>( right_ir_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(
MySyncPolicy(10), *right_ir_image_sub_, *right_ir_metadata_sub_); MySyncPolicy(10), *right_ir_image_sub_, *right_ir_metadata_sub_);
right_ir_sync_->setMaxIntervalDuration( right_ir_sync_->setMaxIntervalDuration(rclcpp::Duration(0, 100 * 1000000)); // 100 ms
rclcpp::Duration::from_nanoseconds(100000000LL)); // 100 ms
right_ir_sync_->registerCallback( right_ir_sync_->registerCallback(
std::bind(&MetadataExportFiles::right_ir_metadata_sync_callback, this, _1, _2)); std::bind(&MetadataExportFiles::right_ir_metadata_sync_callback, this, _1, _2));
@@ -134,7 +134,7 @@ class MetadataExportFiles : public rclcpp::Node {
depth_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>( depth_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(
MySyncPolicy(10), *depth_image_sub_, *depth_metadata_sub_); MySyncPolicy(10), *depth_image_sub_, *depth_metadata_sub_);
depth_sync_->setMaxIntervalDuration(rclcpp::Duration::from_nanoseconds(100000000LL)); // 100 ms depth_sync_->setMaxIntervalDuration(rclcpp::Duration(0, 100 * 1000000)); // 100 ms
depth_sync_->registerCallback( depth_sync_->registerCallback(
std::bind(&MetadataExportFiles::depth_metadata_sync_callback, this, _1, _2)); std::bind(&MetadataExportFiles::depth_metadata_sync_callback, this, _1, _2));
@@ -147,7 +147,7 @@ class MetadataExportFiles : public rclcpp::Node {
color_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>( color_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(
MySyncPolicy(10), *color_image_sub_, *color_metadata_sub_); MySyncPolicy(10), *color_image_sub_, *color_metadata_sub_);
color_sync_->setMaxIntervalDuration(rclcpp::Duration::from_nanoseconds(100000000LL)); // 100 ms color_sync_->setMaxIntervalDuration(rclcpp::Duration(0, 100 * 1000000)); // 100 ms
color_sync_->registerCallback( color_sync_->registerCallback(
std::bind(&MetadataExportFiles::color_metadata_sync_callback, this, _1, _2)); std::bind(&MetadataExportFiles::color_metadata_sync_callback, this, _1, _2));
@@ -380,9 +380,10 @@ class MetadataExportFiles : public rclcpp::Node {
} }
std::ostringstream ss; std::ostringstream ss;
ss << serial_path << "/" << std::to_string(frame_index) << "_" << "0000" << "_" ss << serial_path << "/" << std::to_string(frame_index) << "_"
<< camera_timestamp_us << "_" << timestamp_us.str() << "_" << prefix << "_" << resolution << "0000"
<< ".png"; << "_" << camera_timestamp_us << "_" << timestamp_us.str() << "_" << prefix << "_"
<< resolution << ".png";
cv::imwrite(ss.str(), cv_ptr->image); cv::imwrite(ss.str(), cv_ptr->image);
} }
void save_metadata_to_file(const ImageMetadata &metadata, const std::string &prefix) { void save_metadata_to_file(const ImageMetadata &metadata, const std::string &prefix) {
orbbec_camera/tools/metadata_save_files.hpp
+3 -5
View File
@@ -133,8 +133,7 @@ class MetadataSaveFiles : public rclcpp::Node {
left_ir_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>( left_ir_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(
MySyncPolicy(10), *left_ir_image_sub_, *left_ir_metadata_sub_); MySyncPolicy(10), *left_ir_image_sub_, *left_ir_metadata_sub_);
left_ir_sync_->setMaxIntervalDuration( left_ir_sync_->setMaxIntervalDuration(rclcpp::Duration(0, 100 * 1000000)); // 100 ms
rclcpp::Duration::from_nanoseconds(100000000LL)); // 100 ms
left_ir_sync_->registerCallback( left_ir_sync_->registerCallback(
std::bind(&MetadataSaveFiles::left_ir_metadata_sync_callback, this, _1, _2)); std::bind(&MetadataSaveFiles::left_ir_metadata_sync_callback, this, _1, _2));
@@ -147,8 +146,7 @@ class MetadataSaveFiles : public rclcpp::Node {
right_ir_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>( right_ir_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(
MySyncPolicy(10), *right_ir_image_sub_, *right_ir_metadata_sub_); MySyncPolicy(10), *right_ir_image_sub_, *right_ir_metadata_sub_);
right_ir_sync_->setMaxIntervalDuration( right_ir_sync_->setMaxIntervalDuration(rclcpp::Duration(0, 100 * 1000000)); // 100 ms
rclcpp::Duration::from_nanoseconds(100000000LL)); // 100 ms
right_ir_sync_->registerCallback( right_ir_sync_->registerCallback(
std::bind(&MetadataSaveFiles::right_ir_metadata_sync_callback, this, _1, _2)); std::bind(&MetadataSaveFiles::right_ir_metadata_sync_callback, this, _1, _2));
@@ -161,7 +159,7 @@ class MetadataSaveFiles : public rclcpp::Node {
depth_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>( depth_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(
MySyncPolicy(10), *depth_image_sub_, *depth_metadata_sub_); MySyncPolicy(10), *depth_image_sub_, *depth_metadata_sub_);
depth_sync_->setMaxIntervalDuration(rclcpp::Duration::from_nanoseconds(100000000LL)); // 100 ms depth_sync_->setMaxIntervalDuration(rclcpp::Duration(0, 100 * 1000000)); // 100 ms
depth_sync_->registerCallback( depth_sync_->registerCallback(
std::bind(&MetadataSaveFiles::depth_metadata_sync_callback, this, _1, _2)); std::bind(&MetadataSaveFiles::depth_metadata_sync_callback, this, _1, _2));