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Fix the problem that angle_increment caused abnormal scan topic data

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This commit is contained in:
jj
2025-07-08 15:01:28 +08:00
parent 330198c0a6
commit f622ea57d5
4 changed files with 23 additions and 1 deletions
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orbbec_camera/src/utils.cpp
+16
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@@ -961,6 +961,22 @@ std::string getDistortionModels(OBCameraDistortion distortion) {
return sensor_msgs::distortion_models::PLUMB_BOB;
}
}
double getScanAngleIncrement(OBLiDARScanRate fps) {
switch (fps) {
case OB_LIDAR_SCAN_15HZ:
return deg2rad(0.075);
case OB_LIDAR_SCAN_20HZ:
return deg2rad(0.1);
case OB_LIDAR_SCAN_25HZ:
return deg2rad(0.125);
case OB_LIDAR_SCAN_30HZ:
return deg2rad(0.15);
case OB_LIDAR_SCAN_40HZ:
return deg2rad(0.2);
default:
return deg2rad(0.1);
}
}
double deg2rad(double deg) { return deg * M_PI / 180.0; }