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Add enable_accel_data_correction and enable_gyro_data_correction parameters in gemini_330_series.launch.py

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jj
2025-04-23 18:30:46 +08:00
parent 6a7e388221
commit cb2d2abd20
3 changed files with 18 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+2
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@@ -580,6 +580,8 @@ class OBCameraNode {
double angular_vel_cov_ = 0.0001;
std::deque<IMUData> imu_history_;
IMUData accel_data_{ACCEL, {0, 0, 0}, -1.0};
bool enable_accel_data_correction_ = true;
bool enable_gyro_data_correction_ = true;
// mjpeg decoder
std::shared_ptr<JPEGDecoder> jpeg_decoder_ = nullptr;
uint8_t* rgb_buffer_ = nullptr;