i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-04 12:07:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

change a better name

Browse Source
This commit is contained in:
Joe Dong
2022-06-09 15:51:55 +08:00
parent e230b6443a
commit c3452520ce
2 changed files with 10 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/src/ob_camera_node.cpp
+6 -6
View File
@@ -31,11 +31,11 @@ OBCameraNode::OBCameraNode(rclcpp::Node* node, std::shared_ptr<ob::Device> devic
encoding_[DEPTH] = sensor_msgs::image_encodings::TYPE_16UC1;
stream_name_[OB_STREAM_DEPTH] = "depth";
unit_step_size_[DEPTH] = sizeof(uint16_t);
format_[IR0] = OB_FORMAT_Y16;
format_[INFRA0] = OB_FORMAT_Y16;
image_format_[OB_STREAM_IR] = CV_16UC1;
encoding_[IR0] = sensor_msgs::image_encodings::MONO16;
encoding_[INFRA0] = sensor_msgs::image_encodings::MONO16;
stream_name_[OB_STREAM_IR] = "ir";
unit_step_size_[IR0] = sizeof(uint8_t);
unit_step_size_[INFRA0] = sizeof(uint8_t);
format_[COLOR] = OB_FORMAT_I420;
image_format_[OB_STREAM_COLOR] = CV_8UC3;
@@ -332,7 +332,7 @@ void OBCameraNode::frameSetCallback(std::shared_ptr<ob::FrameSet> frame_set) {
if (depth_frame && enable_[DEPTH]) {
publishDepthFrame(depth_frame);
}
if (ir_frame && enable_[IR0]) {
if (ir_frame && enable_[INFRA0]) {
publishIRFrame(ir_frame);
}
publishPointCloud(frame_set);
@@ -419,7 +419,7 @@ void OBCameraNode::updateStreamCalibData() {
CHECK(param.has_value());
camera_infos_[DEPTH] = convertToCameraInfo(param->depthIntrinsic, param->depthDistortion);
camera_infos_[COLOR] = convertToCameraInfo(param->rgbIntrinsic, param->rgbDistortion);
camera_infos_[IR0] = camera_infos_[DEPTH];
camera_infos_[INFRA0] = camera_infos_[DEPTH];
}
void OBCameraNode::publishStaticTF(const rclcpp::Time& t, const std::vector<float>& trans,
@@ -559,7 +559,7 @@ void OBCameraNode::publishDepthFrame(std::shared_ptr<ob::DepthFrame> frame) {
void OBCameraNode::publishIRFrame(std::shared_ptr<ob::IRFrame> frame) {
auto width = frame->width();
auto height = frame->height();
auto stream = IR0;
auto stream = INFRA0;
auto& image = images_[stream];
if (image.size() != cv::Size(width, height)) {
image.create(height, width, image.type());