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ignore undeclare paramer exception

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This commit is contained in:
Joe Dong
2023-02-20 13:58:37 +08:00
parent 970e7311ba
commit d64e28f9fd
3 changed files with 21 additions and 17 deletions
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orbbec_camera/include/orbbec_camera/utils.h
+2 -2
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@@ -27,9 +27,9 @@ namespace orbbec_camera {
sensor_msgs::msg::CameraInfo convertToCameraInfo(OBCameraIntrinsic intrinsic, sensor_msgs::msg::CameraInfo convertToCameraInfo(OBCameraIntrinsic intrinsic,
OBCameraDistortion distortion, int width); OBCameraDistortion distortion, int width);
void saveRGBPointsToPly(std::shared_ptr<ob::Frame> frame, std::string fileName); void saveRGBPointsToPly(const std::shared_ptr<ob::Frame>& frame, const std::string& fileName);
void savePointsToPly(std::shared_ptr<ob::Frame> frame, std::string fileName); void savePointsToPly(const std::shared_ptr<ob::Frame>& frame, const std::string& fileName);
tf2::Quaternion rotationMatrixToQuaternion(const float rotation[9]); tf2::Quaternion rotationMatrixToQuaternion(const float rotation[9]);
orbbec_camera/src/dynamic_params.cpp
+2
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@@ -41,6 +41,8 @@ Parameters::~Parameters() noexcept {
try { try {
node_->undeclare_parameter(param.first); node_->undeclare_parameter(param.first);
} catch (const rclcpp::exceptions::InvalidParameterTypeException &e) { } catch (const rclcpp::exceptions::InvalidParameterTypeException &e) {
// ignore
} catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, e.what()); RCLCPP_ERROR_STREAM(logger_, e.what());
} }
} }
orbbec_camera/src/utils.cpp
+17 -15
View File
@@ -55,9 +55,13 @@ sensor_msgs::msg::CameraInfo convertToCameraInfo(OBCameraIntrinsic intrinsic,
return info; return info;
} }
void saveRGBPointsToPly(std::shared_ptr<ob::Frame> frame, std::string fileName) { void saveRGBPointsToPly(const std::shared_ptr<ob::Frame> &frame, const std::string &fileName) {
size_t point_size = frame->dataSize() / sizeof(OBColorPoint); size_t point_size = frame->dataSize() / sizeof(OBColorPoint);
FILE *fp = fopen(fileName.c_str(), "wb+"); FILE *fp = fopen(fileName.c_str(), "wb+");
std::shared_ptr<int> fp_guard(nullptr, [&fp](int *) {
fflush(fp);
fclose(fp);
});
fprintf(fp, "ply\n"); fprintf(fp, "ply\n");
fprintf(fp, "format ascii 1.0\n"); fprintf(fp, "format ascii 1.0\n");
fprintf(fp, "element vertex %zu\n", point_size); fprintf(fp, "element vertex %zu\n", point_size);
@@ -69,20 +73,21 @@ void saveRGBPointsToPly(std::shared_ptr<ob::Frame> frame, std::string fileName)
fprintf(fp, "property uchar blue\n"); fprintf(fp, "property uchar blue\n");
fprintf(fp, "end_header\n"); fprintf(fp, "end_header\n");
auto *point = (OBColorPoint *)frame->data(); const auto *points = (OBColorPoint *)frame->data();
CHECK_NOTNULL(points);
for (size_t i = 0; i < point_size; i++) { for (size_t i = 0; i < point_size; i++) {
fprintf(fp, "%.3f %.3f %.3f %d %d %d\n", point->x, point->y, point->z, (int)point->r, fprintf(fp, "%.3f %.3f %.3f %d %d %d\n", points[i].x, points[i].y, points[i].z,
(int)point->g, (int)point->b); (int)points[i].r, (int)points[i].g, (int)points[i].b);
point++;
} }
fflush(fp);
fclose(fp);
} }
void savePointsToPly(std::shared_ptr<ob::Frame> frame, std::string fileName) { void savePointsToPly(const std::shared_ptr<ob::Frame> &frame, const std::string &fileName) {
size_t point_size = frame->dataSize() / sizeof(OBPoint); size_t point_size = frame->dataSize() / sizeof(OBPoint);
FILE *fp = fopen(fileName.c_str(), "wb+"); FILE *fp = fopen(fileName.c_str(), "wb+");
std::shared_ptr<int> fp_guard(nullptr, [&fp](int *) {
fflush(fp);
fclose(fp);
});
fprintf(fp, "ply\n"); fprintf(fp, "ply\n");
fprintf(fp, "format ascii 1.0\n"); fprintf(fp, "format ascii 1.0\n");
fprintf(fp, "element vertex %zu\n", point_size); fprintf(fp, "element vertex %zu\n", point_size);
@@ -91,14 +96,11 @@ void savePointsToPly(std::shared_ptr<ob::Frame> frame, std::string fileName) {
fprintf(fp, "property float z\n"); fprintf(fp, "property float z\n");
fprintf(fp, "end_header\n"); fprintf(fp, "end_header\n");
auto *points = (OBPoint *)frame->data(); const auto *points = (OBPoint *)frame->data();
CHECK_NOTNULL(points);
for (size_t i = 0; i < point_size; i++) { for (size_t i = 0; i < point_size; i++) {
fprintf(fp, "%.3f %.3f %.3f\n", points->x, points->y, points->z); fprintf(fp, "%.3f %.3f %.3f\n", points[i].x, points[i].y, points[i].z);
points++;
} }
fflush(fp);
fclose(fp);
} }
tf2::Quaternion rotationMatrixToQuaternion(const float rotation[9]) { tf2::Quaternion rotationMatrixToQuaternion(const float rotation[9]) {