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feat: enhance colorizeDepthImage function to accept colorizer mode parameter

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ob-yalian
2026-08-19 18:05:27 +08:00
parent 7e3adade65
commit 54d29f15d8
2 changed files with 14 additions and 6 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1 -1
View File
@@ -558,7 +558,7 @@ class OBCameraNode {
void publishRawDepthImage(const std::shared_ptr<ob::Frame>& depth_frame);
cv::Mat colorizeDepthImage(const cv::Mat& depth_image);
cv::Mat colorizeDepthImage(const cv::Mat& depth_image, const std::string& colorizer_mode);
std::shared_ptr<ob::Frame> processDepthFrameFilter(std::shared_ptr<ob::Frame>& frame);
orbbec_camera/src/ob_camera_node.cpp
+13 -5
View File
@@ -5616,12 +5616,13 @@ void OBCameraNode::publishRawDepthImage(const std::shared_ptr<ob::Frame> &depth_
depth_unaligned_publisher_->publish(std::move(image_msg));
}
cv::Mat OBCameraNode::colorizeDepthImage(const cv::Mat &depth_image) {
cv::Mat OBCameraNode::colorizeDepthImage(const cv::Mat &depth_image,
const std::string &colorizer_mode) {
if (depth_image.empty() || depth_image.channels() != 1) {
return {};
}
if (colorizer_mode_ == "none") {
if (colorizer_mode == "none") {
return {};
}
@@ -5682,10 +5683,10 @@ cv::Mat OBCameraNode::colorizeDepthImage(const cv::Mat &depth_image) {
cv::compare(depth_image, cv::Scalar(0), invalid_depth_mask, cv::CMP_EQ);
depth_8u.setTo(cv::Scalar::all(0), invalid_depth_mask);
if (colorizer_mode_ == "gray") {
if (colorizer_mode == "gray") {
return depth_8u;
}
if (colorizer_mode_ == "jet_inv") {
if (colorizer_mode == "jet_inv") {
depth_8u = 255 - depth_8u;
depth_8u.setTo(cv::Scalar::all(0), invalid_depth_mask);
}
@@ -6893,7 +6894,7 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
image = image * depth_scale;
image_to_publish = image;
if (colorizer_mode_ != "none" && (has_raw_image_subscriber || save_images_[stream_index])) {
auto colorized_image = colorizeDepthImage(image);
auto colorized_image = colorizeDepthImage(image, colorizer_mode_);
if (!colorized_image.empty()) {
image_to_publish = std::move(colorized_image);
image_encoding = colorizer_mode_ == "gray" ? sensor_msgs::image_encodings::MONO8
@@ -7051,6 +7052,13 @@ void OBCameraNode::saveImageToFile(const stream_index_pair &stream_index, const
}
cv::Mat png_image = image_to_save.empty() ? raw_image : image_to_save;
if (stream_index == DEPTH && colorizer_mode_ == "none") {
// Keep the ROS topic raw in none mode, but save a viewable depth preview.
auto depth_preview = colorizeDepthImage(png_image, "gray");
if (!depth_preview.empty()) {
png_image = std::move(depth_preview);
}
}
if (png_image.empty()) {
RCLCPP_ERROR_STREAM(logger_, "Failed to save PNG image: image is empty");
} else {