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Code Issues Packages Projects Releases Wiki Activity

add point cloud frame id , see #58

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This commit is contained in:
Joe Dong
2024-09-13 10:18:09 +08:00
parent 0ae02208ee
commit e2853823f6
33 changed files with 41 additions and 1 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1
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@@ -568,5 +568,6 @@ class OBCameraNode {
std::shared_ptr<image_publisher> color_undistortion_publisher_;
bool has_first_color_frame_ = false;
bool use_intra_process_ = false;
std::string cloud_frame_id_;
};
} // namespace orbbec_camera
orbbec_camera/launch/astra.launch.py
+1
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@@ -21,6 +21,7 @@ def generate_launch_description():
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='640'),
orbbec_camera/launch/astra2.launch.py
+1
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@@ -21,6 +21,7 @@ def generate_launch_description():
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='1280'),
orbbec_camera/launch/astra_adv.launch.py
+1
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@@ -21,6 +21,7 @@ def generate_launch_description():
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='640'),
orbbec_camera/launch/astra_embedded_s.launch.py
+1
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@@ -21,6 +21,7 @@ def generate_launch_description():
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='640'),
orbbec_camera/launch/astra_pro2.launch.py
+1
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@@ -21,6 +21,7 @@ def generate_launch_description():
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='640'),
orbbec_camera/launch/astra_stereo_u3.launch.py
+1
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@@ -21,6 +21,7 @@ def generate_launch_description():
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='640'),
orbbec_camera/launch/dabai.launch.py
+1
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@@ -21,6 +21,7 @@ def generate_launch_description():
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='640'),
orbbec_camera/launch/dabai_d1.launch.py
+1
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@@ -19,6 +19,7 @@ def generate_launch_description():
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('depth_width', default_value='640'),
orbbec_camera/launch/dabai_dcl.py
+1
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@@ -21,6 +21,7 @@ def generate_launch_description():
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='640'),
orbbec_camera/launch/dabai_dcw.launch.py
+1
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@@ -21,6 +21,7 @@ def generate_launch_description():
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='640'),
orbbec_camera/launch/dabai_dcw2.launch.py
+1
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@@ -21,6 +21,7 @@ def generate_launch_description():
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='640'),
orbbec_camera/launch/dabai_dw.launch.py
+1
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@@ -19,6 +19,7 @@ def generate_launch_description():
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('depth_width', default_value='640'),
orbbec_camera/launch/dabai_dw2.launch.py
+1
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@@ -19,6 +19,7 @@ def generate_launch_description():
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('depth_width', default_value='640'),
orbbec_camera/launch/dabai_max.launch.py
+1
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@@ -19,6 +19,7 @@ def generate_launch_description():
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('depth_width', default_value='640'),
orbbec_camera/launch/dabai_max_pro.launch.py
+1
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@@ -21,6 +21,7 @@ def generate_launch_description():
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='640'),
orbbec_camera/launch/dabai_pro.launch.py
+1
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@@ -19,6 +19,7 @@ def generate_launch_description():
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('depth_width', default_value='640'),
orbbec_camera/launch/deeya.launch.py
+1
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@@ -21,6 +21,7 @@ def generate_launch_description():
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='640'),
orbbec_camera/launch/femto.launch.py
+1
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@@ -21,6 +21,7 @@ def generate_launch_description():
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='640'),
orbbec_camera/launch/femto_bolt.launch.py
+1
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@@ -21,6 +21,7 @@ def generate_launch_description():
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='1280'),
orbbec_camera/launch/femto_mega.launch.py
+1
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@@ -21,6 +21,7 @@ def generate_launch_description():
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='1280'),
orbbec_camera/launch/gemini2.launch.py
+1
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@@ -21,6 +21,7 @@ def generate_launch_description():
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='640'),
orbbec_camera/launch/gemini2L.launch.py
+1
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@@ -21,6 +21,7 @@ def generate_launch_description():
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='1280'),
orbbec_camera/launch/gemini2VL.launch.py
+1
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@@ -20,6 +20,7 @@ def generate_launch_description():
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='1280'),
DeclareLaunchArgument('color_height', default_value='800'),
orbbec_camera/launch/gemini2XL.launch.py
+1
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@@ -20,6 +20,7 @@ def generate_launch_description():
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='640'),
orbbec_camera/launch/gemini_330_series.launch.py
+1
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@@ -59,6 +59,7 @@ def generate_launch_description():
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('enable_point_cloud', default_value='false'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('color_width', default_value='0'),
DeclareLaunchArgument('color_height', default_value='0'),
orbbec_camera/launch/gemini_e.launch.py
+1
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@@ -32,6 +32,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('color_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
orbbec_camera/launch/gemini_e_lite.launch.py
+1
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@@ -19,6 +19,7 @@ def generate_launch_description():
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('depth_width', default_value='640'),
orbbec_camera/launch/gemini_ew.launch.py
+1
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@@ -20,6 +20,7 @@ def generate_launch_description():
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
orbbec_camera/launch/gemini_ew_lite.launch.py
+1
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@@ -19,6 +19,7 @@ def generate_launch_description():
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('depth_width', default_value='640'),
orbbec_camera/launch/gemini_intra_process_demo_launch.py
+1
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@@ -58,6 +58,7 @@ def generate_launch_description():
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('enable_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('color_width', default_value='1280'),
orbbec_camera/launch/gemini_uw.launch.py
+1
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@@ -21,6 +21,7 @@ def generate_launch_description():
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='640'),
orbbec_camera/src/ob_camera_node.cpp
+9 -1
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@@ -1023,6 +1023,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter(trigger_out_delay_us_, "trigger_out_delay_us", 0);
setAndGetNodeParameter(trigger_out_enabled_, "trigger_out_enabled", false);
setAndGetNodeParameter<std::string>(depth_precision_str_, "depth_precision", "");
setAndGetNodeParameter<std::string>(cloud_frame_id_, "cloud_frame_id", "");
if (!depth_precision_str_.empty()) {
depth_precision_ = depthPrecisionLevelFromString(depth_precision_str_);
}
@@ -1424,6 +1425,9 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &f
auto frame_timestamp = getFrameTimestampUs(depth_frame);
auto timestamp = fromUsToROSTime(frame_timestamp);
std::string frame_id = depth_registration_ ? optical_frame_id_[COLOR] : optical_frame_id_[DEPTH];
if (!cloud_frame_id_.empty()) {
frame_id = cloud_frame_id_;
}
point_cloud_msg->header.stamp = timestamp;
point_cloud_msg->header.frame_id = frame_id;
if (save_point_cloud_) {
@@ -1550,9 +1554,13 @@ void OBCameraNode::publishColoredPointCloud(const std::shared_ptr<ob::FrameSet>
modifier.resize(valid_count);
}
auto frame_timestamp = getFrameTimestampUs(depth_frame);
std::string frame_id = optical_frame_id_[COLOR];
if (!cloud_frame_id_.empty()) {
frame_id = cloud_frame_id_;
}
auto timestamp = fromUsToROSTime(frame_timestamp);
point_cloud_msg->header.stamp = timestamp;
point_cloud_msg->header.frame_id = optical_frame_id_[COLOR];
point_cloud_msg->header.frame_id = frame_id;
if (save_colored_point_cloud_) {
save_colored_point_cloud_ = false;
auto now = std::time(nullptr);