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This commit is contained in:
Joe Dong
2024-05-06 14:08:57 +08:00
parent e29bffda17
commit 6220d632db
1 changed files with 7 additions and 1 deletions
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orbbec_camera/src/ob_camera_node.cpp
+7 -1
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@@ -446,8 +446,10 @@ void OBCameraNode::startStreams() {
colorFrameThread_ = std::make_shared<std::thread>([this]() { onNewColorFrameCallback(); });
}
if (enable_frame_sync_) {
RCLCPP_INFO_STREAM(logger_, "Enable frame sync");
pipeline_->enableFrameSync();
} else {
RCLCPP_INFO_STREAM(logger_, "Disable frame sync");
pipeline_->disableFrameSync();
}
pipeline_started_.store(true);
@@ -786,6 +788,7 @@ void OBCameraNode::setupPipelineConfig() {
pipeline_config_.reset();
}
pipeline_config_ = std::make_shared<ob::Config>();
RCLCPP_INFO_STREAM(logger_, "enable depth scale " << (enable_depth_scale_ ? "ON" : "OFF"));
pipeline_config_->setDepthScaleRequire(enable_depth_scale_);
if (depth_registration_ && enable_stream_[COLOR] && enable_stream_[DEPTH]) {
OBAlignMode align_mode = align_mode_ == "HW" ? ALIGN_D2C_HW_MODE : ALIGN_D2C_SW_MODE;
@@ -1171,7 +1174,7 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
depth_frame_ = frame_set->getFrame(OB_FRAME_DEPTH);
if (depth_registration_ && align_filter_) {
auto new_frame = align_filter_->process(frame_set);
if(new_frame) {
if (new_frame) {
auto new_frame_set = new_frame->as<ob::FrameSet>();
CHECK_NOTNULL(new_frame_set.get());
depth_frame_ = new_frame_set->getFrame(OB_FRAME_DEPTH);
@@ -1198,6 +1201,9 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
if (frame == nullptr) {
continue;
}
if (stream_index == DEPTH) {
frame = depth_frame_;
}
std::shared_ptr<ob::Frame> irFrame = decodeIRMJPGFrame(frame);
if (irFrame) {