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Fixed filter params

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This commit is contained in:
Joe Dong
2024-05-14 14:36:22 +08:00
parent c02367f6cc
commit 4249cd126e
2 changed files with 16 additions and 16 deletions
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orbbec_camera/src/ob_camera_node.cpp
+14 -14
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@@ -1139,18 +1139,8 @@ void OBCameraNode::publishColoredPointCloud(const std::shared_ptr<ob::FrameSet>
depth_height, color_width, color_height);
return;
}
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info);
auto pid = device_info->pid();
OBCameraIntrinsic intrinsics;
if (isGemini335PID(pid)) {
auto color_profile = stream_profile_[COLOR]->as<ob::VideoStreamProfile>();
CHECK_NOTNULL(color_profile.get());
intrinsics = color_profile->getIntrinsic();
} else {
auto camera_params = pipeline_->getCameraParam();
intrinsics = camera_params.rgbIntrinsic;
}
auto camera_params = pipeline_->getCameraParam();
auto intrinsics = camera_params.rgbIntrinsic;
float fdx = intrinsics.fx * ((float)(color_width) / intrinsics.width);
float fdy = intrinsics.fy * ((float)(color_height) / intrinsics.height);
fdx = 1 / fdx;
@@ -1255,7 +1245,8 @@ std::shared_ptr<ob::Frame> OBCameraNode::processDepthFrameFilter(
for (size_t i = 0; i < filter_list->count(); i++) {
auto filter = filter_list->getFilter(i);
CHECK_NOTNULL(filter.get());
if (filter->isEnabled() && frame != nullptr && frame != nullptr) {
if (filter->isEnabled() && frame != nullptr) {
RCLCPP_INFO_STREAM(logger_, "Processing depth frame with filter: " << filter->type());
frame = filter->process(frame);
if (frame == nullptr) {
RCLCPP_ERROR_STREAM(logger_, "Depth filter process failed");
@@ -1288,15 +1279,24 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
auto pid = device_info->pid();
auto color_frame = frame_set->getFrame(OB_FRAME_COLOR);
if (isGemini335PID(pid)) {
if (depth_frame_) {
auto new_depth_frame = processDepthFrameFilter(depth_frame_);
if (new_depth_frame && frame_set->getFrame(OB_FRAME_DEPTH) &&
frame_set->getFrame(OB_FRAME_DEPTH)->data()) {
memcpy(frame_set->getFrame(OB_FRAME_DEPTH)->data(), new_depth_frame->data(),
new_depth_frame->dataSize());
}
}
if (depth_registration_ && align_filter_ && depth_frame_ && color_frame) {
auto new_frame = align_filter_->process(frame_set);
if (new_frame) {
auto new_frame_set = new_frame->as<ob::FrameSet>();
CHECK_NOTNULL(new_frame_set.get());
depth_frame_ = new_frame_set->getFrame(OB_FRAME_DEPTH);
} else {
RCLCPP_ERROR(logger_, "Failed to align depth frame to color frame");
}
}
depth_frame_ = processDepthFrameFilter(depth_frame_);
}
if (enable_stream_[COLOR] && color_frame) {
std::unique_lock<std::mutex> lock(color_frame_queue_lock_);