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Adapted G2R

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This commit is contained in:
Joe Dong
2024-03-15 10:24:38 +08:00
parent e5db48d03a
commit ee0a2f7011
6 changed files with 378 additions and 155 deletions
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orbbec_camera/include/orbbec_camera/utils.h
+5 -1
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@@ -47,7 +47,9 @@ std::ostream& operator<<(std::ostream& os, const OBCameraParam& rhs);
orbbec_camera_msgs::msg::Extrinsics obExtrinsicsToMsg(const OBD2CTransform& extrinsics,
const std::string& frame_id);
rclcpp::Time frameTimeStampToROSTime(uint64_t ms);
rclcpp::Time fromMsToROSTime(uint64_t ms);
rclcpp::Time fromUsToROSTime(uint64_t us);
std::string getObSDKVersion();
@@ -80,4 +82,6 @@ std::string parseUsbPort(const std::string& line);
bool isValidJPEG(const std::shared_ptr<ob::ColorFrame>& frame);
std::string metaDataTypeToString(const OBFrameMetadataType &meta_data_type);
} // namespace orbbec_camera