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remove debug msg

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This commit is contained in:
Joe Dong
2022-06-24 14:55:31 +08:00
parent 99c26f35c4
commit 2d1d63d731
1 changed files with 2 additions and 5 deletions
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orbbec_camera/src/ob_camera_node.cpp
+2 -5
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@@ -583,7 +583,6 @@ void OBCameraNode::publishColorFrame(std::shared_ptr<ob::ColorFrame> frame) {
auto& image_publisher = image_publishers_.at(stream); auto& image_publisher = image_publishers_.at(stream);
auto& cam_info = camera_infos_.at(stream); auto& cam_info = camera_infos_.at(stream);
if (cam_info.width != width || cam_info.height != height) { if (cam_info.width != width || cam_info.height != height) {
RCLCPP_ERROR(logger_, "cam info error");
updateStreamCalibData(pipeline_->getCameraParam()); updateStreamCalibData(pipeline_->getCameraParam());
cam_info.height = height; cam_info.height = height;
cam_info.width = width; cam_info.width = width;
@@ -616,7 +615,6 @@ void OBCameraNode::publishDepthFrame(std::shared_ptr<ob::DepthFrame> frame) {
auto& image_publisher = image_publishers_.at(stream); auto& image_publisher = image_publishers_.at(stream);
auto& cam_info = camera_infos_.at(stream); auto& cam_info = camera_infos_.at(stream);
if (cam_info.width != width || cam_info.height != height) { if (cam_info.width != width || cam_info.height != height) {
RCLCPP_ERROR(logger_, "cam info error");
updateStreamCalibData(pipeline_->getCameraParam()); updateStreamCalibData(pipeline_->getCameraParam());
cam_info.height = height; cam_info.height = height;
cam_info.width = width; cam_info.width = width;
@@ -632,7 +630,7 @@ void OBCameraNode::publishDepthFrame(std::shared_ptr<ob::DepthFrame> frame) {
img->is_bigendian = false; img->is_bigendian = false;
img->step = width * unit_step_size_[stream]; img->step = width * unit_step_size_[stream];
if (align_depth_) { if (align_depth_) {
img->header.frame_id = optical_frame_id_[COLOR]; img->header.frame_id = depth_aligned_frame_id_[DEPTH];
} else { } else {
img->header.frame_id = optical_frame_id_[DEPTH]; img->header.frame_id = optical_frame_id_[DEPTH];
} }
@@ -653,7 +651,6 @@ void OBCameraNode::publishIRFrame(std::shared_ptr<ob::IRFrame> frame) {
auto& image_publisher = image_publishers_.at(stream); auto& image_publisher = image_publishers_.at(stream);
auto& cam_info = camera_infos_.at(stream); auto& cam_info = camera_infos_.at(stream);
if (cam_info.width != width || cam_info.height != height) { if (cam_info.width != width || cam_info.height != height) {
RCLCPP_ERROR(logger_, "cam info error");
updateStreamCalibData(pipeline_->getCameraParam()); updateStreamCalibData(pipeline_->getCameraParam());
cam_info.height = height; cam_info.height = height;
cam_info.width = width; cam_info.width = width;
@@ -669,7 +666,7 @@ void OBCameraNode::publishIRFrame(std::shared_ptr<ob::IRFrame> frame) {
img->is_bigendian = false; img->is_bigendian = false;
img->step = width * unit_step_size_[stream]; img->step = width * unit_step_size_[stream];
if (align_depth_) { if (align_depth_) {
img->header.frame_id = optical_frame_id_[COLOR]; img->header.frame_id = depth_aligned_frame_id_[DEPTH];
} else { } else {
img->header.frame_id = optical_frame_id_[DEPTH]; img->header.frame_id = optical_frame_id_[DEPTH];
} }