enabled the automatic download and setting of the kbt library on windows if the sdk is not installed already
This commit is contained in:
Pranav Dhulipala
Lou Amadio
Родитель
d4a1bfdc8a
Коммит
73e88ef935
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@ -81,6 +81,7 @@ set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX ""
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############################
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message("Finding K4A SDK binaries")
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message("--------------------------------------------${CMAKE_MODULE_PATH}-----------------------------------------")
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# Disable cached locations for K4A SDK binaries.
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# Do this to force the search logic to happen correctly.
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@ -96,41 +97,89 @@ find_package(k4a 1.3.0 QUIET MODULE REQUIRED)
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set(K4A_LIBS k4a::k4a;k4a::k4arecord)
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# Try to find and enable the body tracking SDK
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find_package(k4abt 1.0.0 QUIET MODULE)
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find_package(k4abt 1.0.1 QUIET MODULE)
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if (k4abt_FOUND)
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list(APPEND K4A_LIBS k4abt::k4abt)
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message(STATUS "Body Tracking SDK found: compiling support for Body Tracking")
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target_compile_definitions(${PROJECT_NAME}_node PUBLIC K4A_BODY_TRACKING)
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target_compile_definitions(${PROJECT_NAME}_nodelet PUBLIC K4A_BODY_TRACKING)
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message("!!! Body Tracking SDK found: body tracking features will be available !!!")
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else()
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message("!!! Body Tracking SDK not found: body tracking features will not be available !!!")
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endif()
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if(MSVC)
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if(MSVC AND NOT k4abt_FOUND)
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if(CUDA_SUPPORT)
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set(KINECT_DEPENDENCIES "Microsoft.Azure.Kinect.BodyTracking.Dependencies.0.9.1")
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set(KINECT_URL "https://www.nuget.org/api/v2/package/Microsoft.Azure.Kinect.BodyTracking.Dependencies/0.9.1")
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set(KINECT_SHA512 "5df5ceb2f7905a3e208a085a29ef02feb1820ffe819563af77c272ad7e068cf3a158c0ce610e421829b5f7ebbb628c45f56617344d6d1ef0a31d719253cf881f")
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set(KBT "Microsoft.Azure.Kinect.BodyTracking.1.0.1")
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set(KBT_URL "https://www.nuget.org/api/v2/package/Microsoft.Azure.Kinect.BodyTracking/1.0.1")
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set(KBT_SHA512 "546ebf82551ca809213c7540c4a7c3ccdd14d1ae0ac5d8475b3a98439c4a68cf3d5b4e3fa70676d524ac820815f77611bf2d8ffba96933ad5b317db392d34f20")
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file(DOWNLOAD
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${KINECT_URL}
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${CMAKE_CURRENT_BINARY_DIR}/kinect.nuget
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EXPECTED_HASH SHA512=${KINECT_SHA512}
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${KBT_URL}
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${CMAKE_CURRENT_BINARY_DIR}/kbt.nuget
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EXPECTED_HASH SHA512=${KBT_SHA512}
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SHOW_PROGRESS
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)
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file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/${KINECT_DEPENDENCIES}")
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execute_process(COMMAND tar xvzf "${CMAKE_CURRENT_BINARY_DIR}/kinect.nuget"
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WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/${KINECT_DEPENDENCIES}"
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file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/${KBT}")
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execute_process(COMMAND tar xvzf "${CMAKE_CURRENT_BINARY_DIR}/kbt.nuget"
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WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/${KBT}"
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)
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message(STATUS "${CATKIN_PACKAGE_SHARE_DESTINATION} the share destination")
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file(GLOB KINECT_DLLS
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"${CMAKE_CURRENT_BINARY_DIR}/${KINECT_DEPENDENCIES}/lib/native/amd64/release/*.dll"
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file(GLOB KBT_ONNX_DLL
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"${CMAKE_CURRENT_BINARY_DIR}/${KBT}/lib/native/amd64/release/onnxruntime.dll"
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)
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message(STATUS "kinect dlls ${KINECT_DLLS}")
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file(COPY ${KINECT_DLLS} DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION})
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file(COPY ${KINECT_DLLS} DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION})
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file(GLOB KBT_DLL
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"${CMAKE_CURRENT_BINARY_DIR}/${KBT}/lib/native/amd64/release/k4abt.dll"
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)
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file(GLOB KBT_LIB
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"${CMAKE_CURRENT_BINARY_DIR}/${KBT}/lib/native/amd64/release/k4abt.lib"
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)
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file(GLOB KBT_DNN_MODEL
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"${CMAKE_CURRENT_BINARY_DIR}/${KBT}/content/dnn_model_2_0.onnx"
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)
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add_library(k4abt::k4abt SHARED IMPORTED GLOBAL)
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target_include_directories(
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k4abt::k4abt
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INTERFACE
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${CMAKE_CURRENT_BINARY_DIR}/${KBT}/build/native/include
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)
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set_property(TARGET k4abt::k4abt PROPERTY IMPORTED_CONFIGURATIONS "")
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set_property(TARGET k4abt::k4abt PROPERTY IMPORTED_LOCATION "${KBT_DLL}")
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set_property(TARGET k4abt::k4abt PROPERTY IMPORTED_IMPLIB "${KBT_LIB}")
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set_property(TARGET k4abt::k4abt PROPERTY IMPORTED_LINK_DEPENDENT_LIBRARIES "${KBT_DNN_MODEL};${KBT_ONNX_DLL}")
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set(k4abt_FOUND TRUE)
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set(k4abt_VERSION "1.0.1")
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list(APPEND K4A_LIBS k4abt::k4abt)
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target_compile_definitions(${PROJECT_NAME}_node PUBLIC K4A_BODY_TRACKING)
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target_compile_definitions(${PROJECT_NAME}_nodelet PUBLIC K4A_BODY_TRACKING)
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set(KBT_DEPENDENCIES "Microsoft.Azure.Kinect.BodyTracking.Dependencies.0.9.1")
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set(KBTD_URL "https://www.nuget.org/api/v2/package/Microsoft.Azure.Kinect.BodyTracking.Dependencies/0.9.1")
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set(KBTD_SHA512 "5df5ceb2f7905a3e208a085a29ef02feb1820ffe819563af77c272ad7e068cf3a158c0ce610e421829b5f7ebbb628c45f56617344d6d1ef0a31d719253cf881f")
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file(DOWNLOAD
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${KBTD_URL}
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${CMAKE_CURRENT_BINARY_DIR}/kbtd.nuget
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EXPECTED_HASH SHA512=${KBTD_SHA512}
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SHOW_PROGRESS
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)
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file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/${KBT_DEPENDENCIES}")
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execute_process(COMMAND tar xvzf "${CMAKE_CURRENT_BINARY_DIR}/kbtd.nuget"
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WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/${KBT_DEPENDENCIES}"
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)
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file(GLOB KBTD_DLLS
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"${CMAKE_CURRENT_BINARY_DIR}/${KBT_DEPENDENCIES}/lib/native/amd64/release/*.dll"
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)
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file(COPY ${KBTD_DLLS} DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION})
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file(COPY ${KBTD_DLLS} DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION})
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set(CUDNN_DEPENDENCIES "Microsoft.Azure.Kinect.BodyTracking.Dependencies.cuDNN.0.9.1")
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set(CUDNN_URL "https://www.nuget.org/api/v2/package/Microsoft.Azure.Kinect.BodyTracking.Dependencies.cuDNN/0.9.1")
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@ -154,6 +203,7 @@ if(MSVC)
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file(COPY ${CUDNN_DLLS} DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION})
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file(COPY ${CUDNN_DLLS} DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION})
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else()
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message(FATAL_ERROR "Body Tracking SDK needs a NVIDIA GEFORCE GTX 1070 or better")
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endif()
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@ -162,7 +212,6 @@ endif()
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# This reads the K4A_LIBS and K4A_INSTALL_REQUIRED variables and decides how to install
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# the various shared objects / DLLs
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include(Installk4a)
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##################################
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###### END AZURE KINECT SDK ######
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##################################
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@ -59,7 +59,7 @@ elseif(CMAKE_HOST_SYSTEM_NAME STREQUAL "Windows")
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set(_dnn_model_path "${_sdk_dir}/${RELATIVE_WIN_DNN_MODEL_PATH}")
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if(NOT EXISTS "${_dnn_model_path}")
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quiet_message(WARNING "Rejecting SDK located at ${_sdk_dir}: Could not find dnn_model.onnx at ${_dnn_model_path}")
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quiet_message(WARNING "Rejecting SDK located at ${_sdk_dir}: Could not find dnn_model_2_0.onnx at ${_dnn_model_path}")
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return()
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endif()
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@ -31,7 +31,7 @@ Licensed under the MIT License.
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<arg name="color_enabled" default="true" /> <!-- Enable or disable the color camera -->
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<arg name="color_format" default="bgra" /> <!-- The format of RGB camera. Valid options: bgra, jpeg -->
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<arg name="color_resolution" default="1536P" /> <!-- Resolution at which to run the color camera. Valid options: 720P, 1080P, 1440P, 1536P, 2160P, 3072P -->
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<arg name="fps" default="15" /> <!-- FPS to run both cameras at. Valid options are 5, 15, and 30 -->
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<arg name="fps" default="5" /> <!-- FPS to run both cameras at. Valid options are 5, 15, and 30 -->
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<arg name="point_cloud" default="true" /> <!-- Generate a point cloud from depth data. Requires depth_enabled -->
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<arg name="rgb_point_cloud" default="true" /> <!-- Colorize the point cloud using the RBG camera. Requires color_enabled and depth_enabled -->
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<arg name="point_cloud_in_depth_frame" default="false" /> <!-- Whether the RGB pointcloud is rendered in the depth frame (true) or RGB frame (false). Will either match the resolution of the depth camera (true) or the RGB camera (false). -->
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@ -39,7 +39,7 @@ Licensed under the MIT License.
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<arg name="sensor_sn" default="" /> <!-- Sensor serial number. If none provided, the first sensor will be selected -->
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<arg name="recording_file" default="" /> <!-- Absolute path to a mkv recording file which will be used with the playback api instead of opening a device -->
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<arg name="recording_loop_enabled" default="false" /> <!-- If set to true the recording file will rewind the beginning once end of file is reached -->
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<arg name="body_tracking_enabled" default="true" /> <!-- If set to true the joint positions will be published as marker arrays -->
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<arg name="body_tracking_enabled" default="false" /> <!-- If set to true the joint positions will be published as marker arrays -->
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<arg name="body_tracking_smoothing_factor" default="0.0" /> <!-- Set between 0 for no smoothing and 1 for full smoothing -->
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<arg name="rescale_ir_to_mono8" default="false" /> <!-- Whether to rescale the IR image to an 8-bit monochrome image for visualization and further processing. A scaling factor (ir_mono8_scaling_factor) is applied. -->
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<arg name="ir_mono8_scaling_factor" default="1.0" /> <!-- Scaling factor to apply when converting IR to mono8 (see rescale_ir_to_mono8). If using illumination, use the value 0.5-1. If using passive IR, use 10. -->
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@ -895,8 +895,7 @@ void K4AROSDevice::imageCallback(const sensor_msgs::ImageConstPtr& image_msg, co
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ros::Time(0));
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}
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catch (tf2::TransformException &ex) {
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ROS_WARN("%s",ex.what());
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ros::Duration(1.0).sleep();
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ROS_WARN("Unable to look up the transform between the frames, %s",ex.what());
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return;
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}
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