i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-09-13 03:30:18 +08:00
Code Issues Packages Projects Releases Wiki Activity

No longer judging depth_laser_status

Browse Source
This commit is contained in:
datean
2024-12-23 16:18:19 +08:00
parent fa706a5b73
commit 44962d263a
1 changed files with 3 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/src/ob_camera_node.cpp
+3 -26
View File
@@ -1863,10 +1863,6 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
tf_published_ = true;
}
auto depth_frame = frame_set->getFrame(OB_FRAME_DEPTH);
bool depth_laser_status = false;
if (depth_frame && depth_frame->hasMetadata(OB_FRAME_METADATA_TYPE_LASER_STATUS)) {
depth_laser_status = depth_frame->getMetadataValue(OB_FRAME_METADATA_TYPE_LASER_STATUS) == 1;
}
auto color_frame = frame_set->getFrame(OB_FRAME_COLOR);
if (depth_frame) {
depth_frame = processDepthFrameFilter(depth_frame);
@@ -1889,10 +1885,8 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
if (enable_stream_[COLOR] && color_frame) {
std::unique_lock<std::mutex> lock(color_frame_queue_lock_);
if (!enable_3d_reconstruction_mode_ || depth_laser_status) {
color_frame_queue_.push(frame_set);
color_frame_queue_cv_.notify_all();
}
color_frame_queue_.push(frame_set);
color_frame_queue_cv_.notify_all();
} else {
publishPointCloud(frame_set);
}
@@ -1907,24 +1901,7 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
if (frame == nullptr) {
continue;
}
if (stream_index == DEPTH) {
frame = (enable_3d_reconstruction_mode_ && !depth_laser_status) ? nullptr : frame;
}
auto is_ir_frame = frame_type == OB_FRAME_IR_LEFT || frame_type == OB_FRAME_IR_RIGHT ||
frame_type == OB_FRAME_IR;
if (is_ir_frame) {
std::shared_ptr<ob::Frame> ir_frame =
frame->getFormat() == OB_FORMAT_MJPG ? decodeIRMJPGFrame(frame) : frame;
bool ir_laser_status = false;
if (ir_frame && ir_frame->hasMetadata(OB_FRAME_METADATA_TYPE_LASER_STATUS)) {
ir_laser_status = ir_frame->getMetadataValue(OB_FRAME_METADATA_TYPE_LASER_STATUS) == 1;
}
if (ir_frame && (!enable_3d_reconstruction_mode_ || !ir_laser_status)) {
onNewFrameCallback(ir_frame, stream_index);
}
} else if (frame_type == OB_FRAME_DEPTH) {
onNewFrameCallback(frame, stream_index);
}
onNewFrameCallback(frame, stream_index);
}
}
} catch (const ob::Error &e) {