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Update the method of reading intrinsic parameters.

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This commit is contained in:
lixiaobin
2023-11-23 15:48:10 +08:00
parent a7e29926fa
commit 53934be948
1 changed files with 3 additions and 11 deletions
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orbbec_camera/src/ob_camera_node.cpp
+3 -11
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@@ -609,10 +609,8 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &f
depth_cloud_pub_->get_subscription_count() == 0) { depth_cloud_pub_->get_subscription_count() == 0) {
return; return;
} }
if (!camera_param_ && depth_registration_) { if (!camera_param_) {
camera_param_ = pipeline_->getCameraParam(); camera_param_ = pipeline_->getCameraParam();
} else if (!camera_param_) {
camera_param_ = getDepthCameraParam();
} }
if (!camera_param_) { if (!camera_param_) {
RCLCPP_ERROR_STREAM(logger_, "camera_param_ is null"); RCLCPP_ERROR_STREAM(logger_, "camera_param_ is null");
@@ -883,9 +881,7 @@ void OBCameraNode::onNewColorFrameCallback() {
std::shared_ptr<ob::FrameSet> frameSet = colorFrameQueue_.front(); std::shared_ptr<ob::FrameSet> frameSet = colorFrameQueue_.front();
is_color_frame_decoded_ = decodeColorFrameToBuffer(frameSet->colorFrame(), rgb_buffer_); is_color_frame_decoded_ = decodeColorFrameToBuffer(frameSet->colorFrame(), rgb_buffer_);
publishPointCloud(frameSet, true); publishPointCloud(frameSet, true);
if (is_color_frame_decoded_) { onNewFrameCallback(frameSet->colorFrame(), IMAGE_STREAMS.at(2));
onNewFrameCallback(frameSet->colorFrame(), IMAGE_STREAMS.at(2));
}
colorFrameQueue_.pop(); colorFrameQueue_.pop();
} }
@@ -1024,12 +1020,8 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
int height = static_cast<int>(video_frame->height()); int height = static_cast<int>(video_frame->height());
auto timestamp = frameTimeStampToROSTime(video_frame->systemTimeStamp()); auto timestamp = frameTimeStampToROSTime(video_frame->systemTimeStamp());
if (!camera_param_ && depth_registration_) { if(!camera_param_) {
camera_param_ = pipeline_->getCameraParam(); camera_param_ = pipeline_->getCameraParam();
} else if (!camera_param_ && stream_index == COLOR) {
camera_param_ = getColorCameraParam();
} else if (!camera_param_ && (stream_index == DEPTH || stream_index == INFRA0)) {
camera_param_ = getDepthCameraParam();
} }
auto &intrinsic = auto &intrinsic =
stream_index == COLOR ? camera_param_->rgbIntrinsic : camera_param_->depthIntrinsic; stream_index == COLOR ? camera_param_->rgbIntrinsic : camera_param_->depthIntrinsic;