i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-09-11 02:40:18 +08:00
Code Issues Packages Projects Releases Wiki Activity

feat: update image publishing logic to use is_mjpg_color_stream and enhance CSV logging

Browse Source
This commit is contained in:
slz
2026-05-27 14:48:47 +08:00
parent 21033d5868
commit 53a84a1433
1 changed files with 9 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/src/ob_camera_node.cpp
+9 -1
View File
@@ -1445,7 +1445,7 @@ void OBCameraNode::setupPublishers() {
image_publishers_[stream_index] =
std::make_shared<image_transport_publisher>(*node_, topic, image_qos_profile);
}
if (stream_index == COLOR && format_[stream_index] == OB_FORMAT_MJPG) {
if (is_mjpg_color_stream) {
compressed_image_publishers_[stream_index] =
node_->create_publisher<sensor_msgs::msg::CompressedImage>(
topic + "/compressed",
@@ -2225,6 +2225,14 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
if (stream_index == COLOR && frame->format() == OB_FORMAT_MJPG &&
has_compressed_image_subscriber) {
publishCompressedColorImage(frame, stream_index, timestamp, frame_id);
// Record CSV publish timestamp here only when there is no raw image subscriber.
// If a raw subscriber also exists, the existing logging at the raw publish site will record
// it, avoiding a double call that would corrupt publish_steady_delta_us.
if (!has_raw_image_subscriber && frame_timestamp_csv_logger_ &&
frame_timestamp_csv_logger_->enabled()) {
frame_timestamp_csv_logger_->recordPreImagePublish(stream_index.first, frame,
getSystemNowUs(), getSteadyNowUs());
}
}
CHECK_NOTNULL(image_publishers_[stream_index]);
if (image_publishers_[stream_index]->get_subscription_count() == 0) {