DuongTD/depth_image_proc
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add filter & fix file cmake

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duongtd
2026-08-03 22:29:21 +07:00
parent 653ee76cd1
commit 5871e0c738
3 changed files with 12 additions and 14 deletions
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6
CMakeLists.txt
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@@ -42,7 +42,7 @@ if(NOT BUILDING_WITH_CATKIN)
# ⚠️ placeholder libraries # ⚠️ placeholder libraries
set(PACKAGES_DIR set(PACKAGES_DIR
cv_bridge
robot_sensor_msgs robot_sensor_msgs
robot_cpp robot_cpp
data_convert data_convert
@@ -64,7 +64,7 @@ if(NOT BUILDING_WITH_CATKIN)
else() else()
find_package(catkin REQUIRED COMPONENTS find_package(catkin REQUIRED COMPONENTS
cv_bridge
robot_sensor_msgs robot_sensor_msgs
robot_cpp robot_cpp
data_convert data_convert
@@ -88,7 +88,7 @@ else()
INCLUDE_DIRS include INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME} LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS CATKIN_DEPENDS
cv_bridge
robot_sensor_msgs robot_sensor_msgs
robot_cpp robot_cpp
data_convert data_convert

2
package.xml
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@@ -25,7 +25,6 @@
<build_depend>boost</build_depend> <build_depend>boost</build_depend>
<build_depend>cv_bridge</build_depend>
<build_depend>robot_image_geometry</build_depend> <build_depend>robot_image_geometry</build_depend>
<build_depend>eigen</build_depend> <build_depend>eigen</build_depend>
<build_depend>robot_sensor_msgs</build_depend> <build_depend>robot_sensor_msgs</build_depend>
@@ -38,7 +37,6 @@
<build_depend>tf2_ros</build_depend> <build_depend>tf2_ros</build_depend>
<run_depend>boost</run_depend> <run_depend>boost</run_depend>
<run_depend>cv_bridge</run_depend>
<run_depend>robot_image_geometry</run_depend> <run_depend>robot_image_geometry</run_depend>
<run_depend>eigen</run_depend> <run_depend>eigen</run_depend>
<run_depend>robot_sensor_msgs</run_depend> <run_depend>robot_sensor_msgs</run_depend>

18
src/depth_image_proc_node.cpp
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@@ -178,15 +178,15 @@ private:
const double processed_hz = static_cast<double>(processed_frames_) / window_seconds; const double processed_hz = static_cast<double>(processed_frames_) / window_seconds;
const double average_ms = const double average_ms =
processed_frames_ > 0 ? processing_time_ms_ / static_cast<double>(processed_frames_) : 0.0; processed_frames_ > 0 ? processing_time_ms_ / static_cast<double>(processed_frames_) : 0.0;
ROS_INFO( // ROS_INFO(
"[%s] depth performance: input=%.1f Hz processed=%.1f Hz " // "[%s] depth performance: input=%.1f Hz processed=%.1f Hz "
"skipped=%llu avg=%.2f ms max=%.2f ms", // "skipped=%llu avg=%.2f ms max=%.2f ms",
config_.name.c_str(), // config_.name.c_str(),
input_hz, // input_hz,
processed_hz, // processed_hz,
static_cast<unsigned long long>(skipped_frames_), // static_cast<unsigned long long>(skipped_frames_),
average_ms, // average_ms,
max_processing_time_ms_); // max_processing_time_ms_);
metrics_window_start_ = now; metrics_window_start_ = now;
received_frames_ = 0; received_frames_ = 0;