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feat: add IR frame handling and logging in onNewFrameSetCallback

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ob-yalian
2026-01-22 10:48:11 +08:00
parent 047f912f6c
commit 35e4e2be78
1 changed files with 12 additions and 1 deletions
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orbbec_camera/src/ob_camera_node.cpp
+12 -1
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@@ -3149,12 +3149,12 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
auto device_info = device_->getDeviceInfo(); auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info); CHECK_NOTNULL(device_info);
auto depth_frame = frame_set->getFrame(OB_FRAME_DEPTH); auto depth_frame = frame_set->getFrame(OB_FRAME_DEPTH);
auto depthframe = std::shared_ptr<ob::DepthFrame>();
auto color_frame = frame_set->getFrame(OB_FRAME_COLOR); auto color_frame = frame_set->getFrame(OB_FRAME_COLOR);
auto left_ir_frame = frame_set->getFrame(OB_FRAME_IR_LEFT); auto left_ir_frame = frame_set->getFrame(OB_FRAME_IR_LEFT);
auto right_ir_frame = frame_set->getFrame(OB_FRAME_IR_RIGHT); auto right_ir_frame = frame_set->getFrame(OB_FRAME_IR_RIGHT);
auto left_color_frame = frame_set->getFrame(OB_FRAME_COLOR_LEFT); auto left_color_frame = frame_set->getFrame(OB_FRAME_COLOR_LEFT);
auto right_color_frame = frame_set->getFrame(OB_FRAME_COLOR_RIGHT); auto right_color_frame = frame_set->getFrame(OB_FRAME_COLOR_RIGHT);
auto ir_frame = frame_set->getFrame(OB_FRAME_IR);
if (depth_frame) { if (depth_frame) {
setDisparitySearchOffset(); setDisparitySearchOffset();
setDepthAutoExposureROI(); setDepthAutoExposureROI();
@@ -3241,6 +3241,17 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
} }
fps_counter_right_ir_->tick(); fps_counter_right_ir_->tick();
} }
if (ir_frame) {
static bool ir_frame_info_printed = false;
if (!ir_frame_info_printed) {
auto profile = ir_frame->getStreamProfile()->as<ob::VideoStreamProfile>();
RCLCPP_INFO_STREAM(logger_, "IR Frame - Width: " << profile->getWidth()
<< " Height: " << profile->getHeight()
<< " fps: " << profile->getFps()
<< " Format: " << profile->getFormat());
ir_frame_info_printed = true;
}
}
if (depth_registration_ && align_filter_ && depth_frame) { if (depth_registration_ && align_filter_ && depth_frame) {
if (auto new_frame = align_filter_->process(frame_set)) { if (auto new_frame = align_filter_->process(frame_set)) {
auto new_frame_set = new_frame->as<ob::FrameSet>(); auto new_frame_set = new_frame->as<ob::FrameSet>();