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Update single frame publishing method

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slz
2025-11-25 19:48:09 +08:00
parent b74d4d2392
commit c24af3b2a5
2 changed files with 15 additions and 5 deletions
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orbbec_camera/src/ob_lidar_node.cpp
+13 -3
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@@ -635,6 +635,15 @@ void OBLidarNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set)
// Handle multi-frame publishing for LIDAR_POINT and LIDAR_SPHERE_POINT formats
if ((format_[LIDAR] == OB_FORMAT_LIDAR_POINT ||
format_[LIDAR] == OB_FORMAT_LIDAR_SPHERE_POINT)) {
if (publish_n_pkts_ == 1) {
if (format_[LIDAR] == OB_FORMAT_LIDAR_POINT) {
publishPointCloud(frame_set);
return;
} else if (format_[LIDAR] == OB_FORMAT_LIDAR_SPHERE_POINT) {
publishSpherePointCloud(frame_set);
return;
}
}
std::lock_guard<std::mutex> lock(frame_buffer_mutex_);
frame_buffer_.push_back(frame_set);
// If we have enough frames, publish merged point cloud
@@ -1208,13 +1217,14 @@ void OBLidarNode::calcAndPublishStaticTransform() {
// }
// publishStaticTF(timestamp, zero_trans, quaternion_optical, frame_id_[stream_index],
// optical_frame_id_[stream_index]);
// RCLCPP_INFO_STREAM(logger_, "Publishing static transform from " << stream_name_[stream_index]
// RCLCPP_INFO_STREAM(logger_, "Publishing static transform from " <<
// stream_name_[stream_index]
// << " to "
// <<
// stream_name_[base_stream_]);
// RCLCPP_INFO_STREAM(logger_, "Translation " << trans[0] << ", " << trans[1] << ", " <<
// trans[2]); RCLCPP_INFO_STREAM(logger_, "Rotation " << Q.getX() << ", " << Q.getY() << ", " <<
// Q.getZ()
// trans[2]); RCLCPP_INFO_STREAM(logger_, "Rotation " << Q.getX() << ", " << Q.getY() << ", "
// << Q.getZ()
// << ", " << Q.getW());
// }
if (enable_imu_) {