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fixed align filter

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This commit is contained in:
Joe Dong
2024-08-23 19:55:35 +08:00
parent 3a4beefe11
commit 0408917d94
3 changed files with 5 additions and 4 deletions
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orbbec_camera/src/ob_camera_node.cpp
+4 -4
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@@ -1569,9 +1569,10 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
CHECK_NOTNULL(device_info.get());
auto pid = device_info->pid();
auto color_frame = frame_set->getFrame(OB_FRAME_COLOR);
has_first_color_frame_ = has_first_color_frame_ || color_frame;
if (isGemini335PID(pid)) {
depth_frame_ = processDepthFrameFilter(depth_frame_);
if (depth_registration_ && align_filter_ && depth_frame_ && color_frame) {
if (depth_registration_ && align_filter_ && depth_frame_ && has_first_color_frame_) {
auto new_frame = align_filter_->process(frame_set);
if (new_frame) {
auto new_frame_set = new_frame->as<ob::FrameSet>();
@@ -1585,9 +1586,8 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
"Depth registration is disabled or align filter is null or depth frame is "
"null or color frame is null");
}
if (depth_registration_ && align_filter_ && depth_frame_ && !color_frame) {
RCLCPP_ERROR(logger_,
"Color frame is null, cannot align depth frame to color frame, droped");
if(depth_registration_ && align_filter_ && depth_frame_ && !has_first_color_frame_) {
RCLCPP_WARN(logger_, "Waiting for the first color frame to align depth frame");
return;
}
}