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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/include/orbbec_camera/ob_lidar_node.h
+3
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@@ -171,6 +171,8 @@ class OBLidarNode {
void publishScan(std::shared_ptr<ob::FrameSet> frame_set); void publishScan(std::shared_ptr<ob::FrameSet> frame_set);
void publishScanToPoint(std::shared_ptr<ob::FrameSet> frame_set);
void publishPointCloud(std::shared_ptr<ob::FrameSet> frame_set); void publishPointCloud(std::shared_ptr<ob::FrameSet> frame_set);
void publishSpherePointCloud(std::shared_ptr<ob::FrameSet> frame_set); void publishSpherePointCloud(std::shared_ptr<ob::FrameSet> frame_set);
@@ -230,6 +232,7 @@ class OBLidarNode {
// Only for Gemini2 device // Only for Gemini2 device
std::string time_domain_ = "device"; // device, system, global std::string time_domain_ = "device"; // device, system, global
bool enable_scan_to_point_ = false;
bool enable_heartbeat_ = false; bool enable_heartbeat_ = false;
bool use_intra_process_ = false; bool use_intra_process_ = false;
orbbec_camera/launch/lidar.launch.py
+1
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@@ -60,6 +60,7 @@ def generate_launch_description():
DeclareLaunchArgument('tf_publish_rate', default_value='0.0'), DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
DeclareLaunchArgument('lidar_format', default_value='ANY'),#LIDAR_POINT, LIDAR_SPHERE_POINT, LIDAR_SCAN DeclareLaunchArgument('lidar_format', default_value='ANY'),#LIDAR_POINT, LIDAR_SPHERE_POINT, LIDAR_SCAN
DeclareLaunchArgument('lidar_rate', default_value='20'), DeclareLaunchArgument('lidar_rate', default_value='20'),
DeclareLaunchArgument('enable_scan_to_point', default_value='false'),
DeclareLaunchArgument('repetitive_scan_mode', default_value='-1'), DeclareLaunchArgument('repetitive_scan_mode', default_value='-1'),
DeclareLaunchArgument('filter_level', default_value='-1'), DeclareLaunchArgument('filter_level', default_value='-1'),
DeclareLaunchArgument('vertical_fov', default_value='-1.0'), DeclareLaunchArgument('vertical_fov', default_value='-1.0'),
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"; param_name = stream_name_[stream_index] + "_optical_frame_id";
setAndGetNodeParameter(optical_frame_id_[stream_index], param_name, default_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<bool>(publish_tf_, "publish_tf", true);
setAndGetNodeParameter<double>(tf_publish_rate_, "tf_publish_rate", 0.0); setAndGetNodeParameter<double>(tf_publish_rate_, "tf_publish_rate", 0.0);
setAndGetNodeParameter<std::string>(time_domain_, "time_domain", "global"); setAndGetNodeParameter<std::string>(time_domain_, "time_domain", "global");
@@ -418,8 +419,10 @@ void OBLidarNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set)
publishStaticTransforms(); publishStaticTransforms();
tf_published_ = true; tf_published_ = true;
} }
if (format_[LIDAR] == OB_FORMAT_LIDAR_SCAN) { if (format_[LIDAR] == OB_FORMAT_LIDAR_SCAN && !enable_scan_to_point_) {
publishScan(frame_set); 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) { } else if (format_[LIDAR] == OB_FORMAT_LIDAR_POINT) {
publishPointCloud(frame_set); publishPointCloud(frame_set);
} else if (format_[LIDAR] == OB_FORMAT_LIDAR_SPHERE_POINT) { } 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)); 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 OBLidarNode::publishPointCloud(std::shared_ptr<ob::FrameSet> frame_set) {
(void)frame_set; (void)frame_set;
if (frame_set == nullptr) { if (frame_set == nullptr) {