Publication of calibrations, RGBInfo, TOFInfo and CameraInfo

Moved ifm3d buffer to ROS message convertions to buffer_conversions.hpp Added Intrinsics, InverseIntrinsics, RGBInfo and TOFInfo messages. Added Intrinsics, InverseIntrinsics, RGBInfo and TOFInfo publication. Automatically publish CameraInfo if INTRINSIC_CALIB buffer is received.
ifm · May 4, 2023 · 8a208e3 · 8a208e3
1 parent fc0e333
commit 8a208e3
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Showing 10 changed files with 632 additions and 196 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -35,6 +35,10 @@ ament_auto_find_build_dependencies(REQUIRED ${IFM3D_ROS2_DEPS})
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Extrinsics.msg"
+  "msg/Intrinsics.msg"
+  "msg/InverseIntrinsics.msg"
+  "msg/RGBInfo.msg"
+  "msg/TOFInfo.msg"
   "srv/Dump.srv"
   "srv/Config.srv"
   "srv/Softoff.srv"

diff --git a/config/camera_default_parameters.yaml b/config/camera_default_parameters.yaml
@@ -5,12 +5,16 @@
   ros__parameters:
     buffer_id_list:
       - AMPLITUDE_IMAGE
-      - NORM_AMPLITUDE_IMAGE
       - CONFIDENCE_IMAGE
+      - EXTRINSIC_CALIB
+      - INTRINSIC_CALIB
+      - INVERSE_INTRINSIC_CALIBRATION
       - JPEG_IMAGE
+      - NORM_AMPLITUDE_IMAGE
       - RADIAL_DISTANCE_IMAGE
+      - RGB_INFO
+      - TOF_INFO
       - XYZ
-      - EXTRINSIC_CALIB
     ip: 192.168.0.69
     pcic_port: 50010
     tf: