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fix: update color image layout on profile switch

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slz
2026-08-18 15:13:52 +08:00
parent eda99faf42
commit 282ab4b022
1 changed files with 6 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
+6
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@@ -3933,6 +3933,12 @@ void OBCameraNode::updateImageConfig(const stream_index_pair &stream_index) {
encoding_[stream_index] = is_depth_stream ? sensor_msgs::image_encodings::TYPE_16UC1 encoding_[stream_index] = is_depth_stream ? sensor_msgs::image_encodings::TYPE_16UC1
: sensor_msgs::image_encodings::MONO16; : sensor_msgs::image_encodings::MONO16;
unit_step_size_[stream_index] = sizeof(uint16_t); unit_step_size_[stream_index] = sizeof(uint16_t);
} else if (is_color_stream &&
(format == OB_FORMAT_YUYV || format == OB_FORMAT_UYVY || format == OB_FORMAT_I420 ||
format == OB_FORMAT_NV12 || format == OB_FORMAT_NV21)) {
image_format_[stream_index] = CV_8UC3;
encoding_[stream_index] = sensor_msgs::image_encodings::RGB8;
unit_step_size_[stream_index] = 3 * sizeof(uint8_t);
} else if (format == OB_FORMAT_MJPG || format == OB_FORMAT_MJPEG) { } else if (format == OB_FORMAT_MJPG || format == OB_FORMAT_MJPEG) {
if (is_ir_stream) { if (is_ir_stream) {
image_format_[stream_index] = CV_8UC1; image_format_[stream_index] = CV_8UC1;