Apply suggestions from code review, adjusted code to recent API changes.

Co-authored-by: Steve Pham <[email protected]> Signed-off-by: Michał Pełka <[email protected]>
RobotecAI · Mar 13, 2023 · 8d2a8c6 · 8d2a8c6
1 parent c787906
commit 8d2a8c6
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Showing 3 changed files with 9 additions and 10 deletions.
diff --git a/Gems/ROS2/Code/Source/Camera/CameraSensor.cpp b/Gems/ROS2/Code/Source/Camera/CameraSensor.cpp
@@ -267,14 +267,14 @@ namespace ROS2
     void CameraRGBDSensor::ReadBackDepth(
         AZStd::function<void(const AZ::RPI::AttachmentReadback::ReadbackResult& result)> callback)
     {
-            AZ::Render::FrameCaptureId captureId = AZ::Render::InvalidFrameCaptureId;
+            AZ::Render::FrameCaptureOutcome captureOutcome;
             AZStd::vector<AZStd::string> passHierarchy{m_pipelineName,"DepthPrePass"};
             AZ::Render::FrameCaptureRequestBus::BroadcastResult(
-                captureId,
+                captureOutcome,
                 &AZ::Render::FrameCaptureRequestBus::Events::CapturePassAttachmentWithCallback,
+                callback,
                 passHierarchy,
                 AZStd::string("DepthLinear"),
-                callback,
                 AZ::RPI::PassAttachmentReadbackOption::Output);
     }
 

diff --git a/Gems/ROS2/Code/Source/Camera/CameraSensor.h b/Gems/ROS2/Code/Source/Camera/CameraSensor.h
@@ -95,15 +95,14 @@ namespace ROS2
 
         //! Request a frame from the rendering pipeline
         //! @param cameraPose - current camera pose from which the rendering should take place
-        //! @param callback - callback function object that will be called when capture is ready
-        //!                   it's argument is readback structure containing, among other thins, captured image
+        //! @param callback - callback function object that will be called when capture is ready.
+        //!                   It's argument is readback structure containing, among other things, a captured image
         void RequestFrame(
             const AZ::Transform& cameraPose, AZStd::function<void(const AZ::RPI::AttachmentReadback::ReadbackResult& result)> callback);
 
         //! Request an additional frame from the rendering pipeline
-        //! @param cameraPose - current camera pose from which the rendering should take place
-        //! @param callback - callback function object that will be called when capture is ready
-        //!                   it's argument is readback structure containing, among other thins, captured image
+        //! @param callback - callback function object that will be called when capture is ready.
+        //!                   It's argument is readback structure containing, among other things, a captured image
         //! @param passName - pass name in pipeline, eg `DepthToLinearDepthPass`
         //! @param slotName - slot name in selected pass, eg `Output`
         void RequestAdditionalFrame(

diff --git a/Gems/ROS2/Code/Source/Camera/ROS2CameraSensorComponent.cpp b/Gems/ROS2/Code/Source/Camera/ROS2CameraSensorComponent.cpp
@@ -117,8 +117,8 @@ namespace ROS2
         std_msgs::msg::Header ros_header;
         if (!m_imagePublishers.empty() && m_cameraSensor)
         {
-            const auto& camera_descritpion = m_cameraSensor->GetCameraSensorDescription();
-            const auto& cameraIntrinsics = camera_descritpion.m_cameraIntrinsics;
+            const auto& cameraDescription = m_cameraSensor->GetCameraSensorDescription();
+            const auto& cameraIntrinsics = cameraDescription.m_cameraIntrinsics;
             sensor_msgs::msg::CameraInfo cameraInfo;
             ros_header.stamp = timestamp;
             ros_header.frame_id = m_frameName.c_str();