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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/SDK/lib/arm64/libOrbbecSDK.so.1.10.12
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1
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@@ -565,5 +565,6 @@ class OBCameraNode {
bool enable_heartbeat_ = false; bool enable_heartbeat_ = false;
bool enable_color_undistortion_ = false; bool enable_color_undistortion_ = false;
image_transport::Publisher color_undistortion_publisher_; image_transport::Publisher color_undistortion_publisher_;
bool has_first_color_frame_ = false;
}; };
} // namespace orbbec_camera } // namespace orbbec_camera
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()); CHECK_NOTNULL(device_info.get());
auto pid = device_info->pid(); auto pid = device_info->pid();
auto color_frame = frame_set->getFrame(OB_FRAME_COLOR); auto color_frame = frame_set->getFrame(OB_FRAME_COLOR);
has_first_color_frame_ = has_first_color_frame_ || color_frame;
if (isGemini335PID(pid)) { if (isGemini335PID(pid)) {
depth_frame_ = processDepthFrameFilter(depth_frame_); 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); auto new_frame = align_filter_->process(frame_set);
if (new_frame) { if (new_frame) {
auto new_frame_set = new_frame->as<ob::FrameSet>(); 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 " "Depth registration is disabled or align filter is null or depth frame is "
"null or color frame is null"); "null or color frame is null");
} }
if (depth_registration_ && align_filter_ && depth_frame_ && !color_frame) { if(depth_registration_ && align_filter_ && depth_frame_ && !has_first_color_frame_) {
RCLCPP_ERROR(logger_, RCLCPP_WARN(logger_, "Waiting for the first color frame to align depth frame");
"Color frame is null, cannot align depth frame to color frame, droped");
return; return;
} }
} }