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fix: enhance image publishing logic for MJPG streams

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slz
2026-05-28 11:22:18 +08:00
parent 1d20ebb74d
commit 0d668618ca
1 changed files with 6 additions and 1 deletions
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orbbec_camera/src/ob_camera_node.cpp
+6 -1
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@@ -3937,7 +3937,7 @@ void OBCameraNode::setupPublishers() {
image_publishers_[stream_index] =
std::make_shared<image_transport_publisher>(*node_, topic, image_qos_profile);
}
if ((stream_index == COLOR || stream_index == COLOR_LEFT || stream_index == COLOR_RIGHT) &&
if ((is_mjpg_color_stream) &&
format_[stream_index] == OB_FORMAT_MJPG) {
compressed_image_publishers_[stream_index] =
node_->create_publisher<sensor_msgs::msg::CompressedImage>(
@@ -5154,6 +5154,11 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
}
if ((stream_index == COLOR || stream_index == COLOR_LEFT || stream_index == COLOR_RIGHT) &&
frame->getFormat() == OB_FORMAT_MJPG && has_compressed_image_subscriber) {
if (!has_raw_image_subscriber && stream_index == COLOR && frame_timestamp_csv_logger_ &&
frame_timestamp_csv_logger_->enabled()) {
frame_timestamp_csv_logger_->recordPreImagePublish(stream_index.first, frame,
getSystemNowUs(), getSteadyNowUs());
}
publishCompressedColorImage(frame, stream_index, timestamp, frame_id);
if (!has_raw_image_subscriber && stream_index == COLOR) {
fps_delay_status_color_->tick(frame_timestamp);