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Add enable_scan_to_point param

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jj
2025-07-04 09:57:31 +08:00
parent 8d90c510a5
commit def6d64c81
3 changed files with 15 additions and 1 deletions
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orbbec_camera/src/ob_lidar_node.cpp
+11 -1
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@@ -134,6 +134,7 @@ void OBLidarNode::getParameters() {
param_name = stream_name_[stream_index] + "_optical_frame_id";
setAndGetNodeParameter(optical_frame_id_[stream_index], param_name, default_optical_frame_id);
}
setAndGetNodeParameter<bool>(enable_scan_to_point_, "enable_scan_to_point", false);
setAndGetNodeParameter<bool>(publish_tf_, "publish_tf", true);
setAndGetNodeParameter<double>(tf_publish_rate_, "tf_publish_rate", 0.0);
setAndGetNodeParameter<std::string>(time_domain_, "time_domain", "global");
@@ -418,8 +419,10 @@ void OBLidarNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set)
publishStaticTransforms();
tf_published_ = true;
}
if (format_[LIDAR] == OB_FORMAT_LIDAR_SCAN) {
if (format_[LIDAR] == OB_FORMAT_LIDAR_SCAN && !enable_scan_to_point_) {
publishScan(frame_set);
} else if (format_[LIDAR] == OB_FORMAT_LIDAR_SCAN && enable_scan_to_point_) {
publishScanToPoint(frame_set);
} else if (format_[LIDAR] == OB_FORMAT_LIDAR_POINT) {
publishPointCloud(frame_set);
} else if (format_[LIDAR] == OB_FORMAT_LIDAR_SPHERE_POINT) {
@@ -469,6 +472,13 @@ void OBLidarNode::publishScan(std::shared_ptr<ob::FrameSet> frame_set) {
scan_pub_->publish(std::move(scan_msg));
}
void OBLidarNode::publishScanToPoint(std::shared_ptr<ob::FrameSet> frame_set) {
(void)frame_set;
if (frame_set == nullptr) {
return;
}
}
void OBLidarNode::publishPointCloud(std::shared_ptr<ob::FrameSet> frame_set) {
(void)frame_set;
if (frame_set == nullptr) {