wanngwe/odin_ros_driver1
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

update cloud reprojection node to sync image+cloud, looks sync good

Browse Source
This commit is contained in:
jingyang-huang
2026-04-06 12:18:55 +08:00
parent f54d29f40a
commit 0ec1300ab5
9 changed files with 424 additions and 205 deletions
Download Patch File Download Diff File Expand all files Collapse all files
config/control_command.yaml
+14 -9
View File
@@ -6,7 +6,7 @@ register_keys:
# 0: use odin internal system time as data time stamp, typical and recommended;
# 1: use host ros time (upon receive) as data time stamp, only use if you specifically require this setup, not recommended for most users
# 2: align odin1 time to host time, timestamp is the sensor data reception time on host time axis
use_host_ros_time: 0 # Changed to 0 to use device timestamp without PTP offset correction
use_host_ros_time: 0 # Changed to 0 to use device timestamp without PTP offset correction
streamctrl: 1 # 0: off; 1: on
@@ -63,15 +63,20 @@ register_keys:
# cloud reprojection demo, projects cloud_slam to camera image using odometry
# Processed on host device
sendreprojection: 0 # 0: off; 1: on
sendreprojection: 1 # 0: off; 1: on
# image overlay settings - overlays reprojected points on camera image
# Processed on host device
sendoverlay: 0 # 0: off; 1: on
overlay_reprojected_topic: "/odin1/reprojected_image" # reprojected image topic
overlay_camera_topic: "/odin1/image" # camera image topic (undistorted)
overlay_output_topic: "/odin1/overlay_image" # output overlay image topic
overlay_alpha: 0.6 # blend alpha (0.0-1.0, higher = more reproj color)
# Legacy overlay node (optional); cloud_reprojection now does 4-way sync + combined jpeg
sendoverlay: 0
overlay_reprojected_topic: "/odin1/reprojected_image"
overlay_camera_topic: "/odin1/image"
overlay_output_topic: "/odin1/combined_image/compressed"
overlay_jpeg_quality: 85
# cloud_reprojection: 4th input = camera JPEG (sensor_msgs/CompressedImage), e.g. /odin1/image/compressed
sync_camera_topic: "/odin1/image/compressed"
sync_topic_prefix: "/odin1/sync"
combined_compressed_topic: "/odin1/combined_image/compressed"
combined_jpeg_quality: 85
# record rgb, odometry, and slam cloud data as proprietary olx format for further processing in MindCloud(TM) software.
# save path: ws/src/odin_ros_driver/recorddata/{record_start_time}/