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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/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);