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fixed depth image value

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This commit is contained in:
Joe Dong
2023-03-22 11:00:00 +08:00
parent 86f31d47fb
commit 1b4e4ade0e
1 changed files with 5 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
+5
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@@ -596,6 +596,11 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame>& frame,
image.create(height, width, image_format_[stream_index]);
}
image.data = (uchar*)video_frame->data();
if (stream_index == DEPTH) {
auto depth_scale = video_frame->as<ob::DepthFrame>()->getValueScale();
image = image * depth_scale;
}
auto timestamp = frameTimeStampToROSTime(video_frame->systemTimeStamp());
if (!camera_param_ && depth_registration_) {
camera_param_ = pipeline_->getCameraParam();