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feat: add raw depth image publishing functionality to OBCameraNode

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slz
2026-03-18 10:27:41 +08:00
parent 5677c79919
commit ebdae35a4c
2 changed files with 49 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+3
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@@ -426,6 +426,8 @@ class OBCameraNode {
void publishColoredPointCloud(const std::shared_ptr<ob::FrameSet>& frame_set);
void publishRawDepthImage(const std::shared_ptr<ob::Frame>& depth_frame);
std::shared_ptr<ob::Frame> processDepthFrameFilter(std::shared_ptr<ob::Frame>& frame);
std::shared_ptr<ob::Frame> processColorFrameFilter(std::shared_ptr<ob::Frame>& frame);
@@ -572,6 +574,7 @@ class OBCameraNode {
camera_info_publishers_;
std::map<stream_index_pair, bool> frame_info_logged_;
std::mutex frame_info_logged_mutex_;
rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr depth_raw_image_pub_;
std::map<stream_index_pair, rclcpp::Service<GetInt32>::SharedPtr> get_exposure_srv_;
std::map<stream_index_pair, rclcpp::Service<SetInt32>::SharedPtr> set_exposure_srv_;