i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-09-12 03:00:20 +08:00
Code Issues Packages Projects Releases Wiki Activity

chore: Handle special case for Dabai Max point cloud

Browse Source 
In the OBCameraNode file, a special case is added to handle the point cloud for the Dabai Max camera. When the camera PID is Dabai Max, the color parameters are used instead of the depth parameters for intrinsic and distortion calculations.
This commit is contained in:
Joe Dong
2024-09-09 17:53:32 +08:00
parent ae8df6e904
commit 26ee0d676d
1 changed files with 5 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/src/ob_camera_node.cpp
+5
View File
@@ -1899,6 +1899,11 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
: camera_params.depthIntrinsic;
distortion = stream_index.first == OB_STREAM_COLOR ? camera_params.rgbDistortion
: camera_params.depthDistortion;
if(pid == DABAI_MAX_PID){
// use color param
intrinsic = camera_params.rgbIntrinsic;
distortion = camera_params.rgbDistortion;
}
}
std::string frame_id = optical_frame_id_[stream_index];
if (depth_registration_ && stream_index == DEPTH) {