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skip depth frame by hdr_index when publish depth pointclouds

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datean
2024-12-13 04:32:14 -05:00
parent e7ffc91aeb
commit 55fe0a71ea
1 changed files with 7 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
+7
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@@ -1615,6 +1615,13 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &f
RCLCPP_ERROR_STREAM(logger_, "depth frame is null"); RCLCPP_ERROR_STREAM(logger_, "depth frame is null");
return; return;
} }
if (depth_frame->getMetadataValue(OB_FRAME_METADATA_TYPE_HDR_SEQUENCE_INDEX) !=
interleave_skip_index_) {
RCLCPP_DEBUG(logger_, "interleave filter skip frame type: %d", depth_frame->getType());
return;
}
CHECK_NOTNULL(pipeline_); CHECK_NOTNULL(pipeline_);
auto camera_params = pipeline_->getCameraParam(); auto camera_params = pipeline_->getCameraParam();
auto device_info = device_->getDeviceInfo(); auto device_info = device_->getDeviceInfo();