def get_frame(self): # Get data from cameras frames = self.pipeline.wait_for_frames() self.color_frame = frames.get_color_frame() self.time = get_timestamp(frames) self.color_message = image_CvBridge_conversion(self.color_frame, self.bridge, self.time) self.publish_data()
def get_frame(self): # Get data from camera frames = self.pipeline.wait_for_frames() pose = frames.get_pose_frame() self.time = get_timestamp(frames) self.my_path, self.position, self.orientation, self.odom = get_path_position_orientation( pose, self.my_path, self.time) self.publish_data()
def get_frame(self): # Get data from cameras frames = self.pipeline.wait_for_frames() aligned_frames = self.align.process(frames) self.aligned_depth_frame = aligned_frames.get_depth_frame() self.time = get_timestamp(frames) self.align_message = image_CvBridge_conversion( self.aligned_depth_frame, self.bridge, self.time) self.publish_data()