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()