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Add cloud accumulated

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This commit is contained in:
jj
2025-07-08 17:18:54 +08:00
parent f622ea57d5
commit e03d1b3083
5 changed files with 123 additions and 0 deletions
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orbbec_camera/src/ob_lidar_node.cpp
+6
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@@ -53,6 +53,10 @@ OBLidarNode::OBLidarNode(rclcpp::Node *node, std::shared_ptr<ob::Device> device,
jpeg_decoder_ = std::make_unique<JetsonNvJPEGDecoder>(width_[COLOR], height_[COLOR]);
#endif
is_camera_node_initialized_ = true;
if (enable_cloud_accumulated_&&cloud_accumulation_count_>=1) {
auto point_cloud_qos_profile = getRMWQosProfileFromString(point_cloud_qos_);
cloud_accumulated_=std::make_unique<CloudAccumulated>(node_, point_cloud_qos_profile, cloud_accumulation_count_);
}
}
template <class T>
@@ -148,6 +152,8 @@ void OBLidarNode::getParameters() {
setAndGetNodeParameter<int>(repetitive_scan_mode_, "repetitive_scan_mode", -1);
setAndGetNodeParameter<int>(filter_level_, "filter_level", -1);
setAndGetNodeParameter<float>(vertical_fov_, "vertical_fov", -1.0);
setAndGetNodeParameter<bool>(enable_cloud_accumulated_, "enable_cloud_accumulated", false);
setAndGetNodeParameter<bool>(cloud_accumulation_count_, "cloud_accumulation_count", -1);
}
void OBLidarNode::setupDevices() {