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fix: optimize color undistortion logic by removing redundant code and ensuring proper publishing conditions

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This commit is contained in:
ob-yalian
2025-12-29 09:54:10 +08:00
parent d87f5e75f1
commit 6c44310645
1 changed files with 12 additions and 14 deletions
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orbbec_camera/src/ob_camera_node.cpp
+12 -14
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@@ -3152,7 +3152,18 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
if (depth_registration_ && stream_index == DEPTH) {
frame_id = depth_aligned_frame_id_[stream_index];
}
if (stream_index == COLOR && enable_color_undistortion_) {
if (stream_index == COLOR && enable_color_undistortion_ &&
color_undistortion_publisher_->get_subscription_count() > 0) {
auto undistorted_image = undistortImage(image, intrinsic, distortion);
sensor_msgs::msg::Image::UniquePtr undistorted_image_msg(new sensor_msgs::msg::Image());
cv_bridge::CvImage(std_msgs::msg::Header(), encoding_[stream_index], undistorted_image)
.toImageMsg(*undistorted_image_msg);
CHECK_NOTNULL(undistorted_image_msg.get());
undistorted_image_msg->header.stamp = timestamp;
undistorted_image_msg->is_bigendian = false;
undistorted_image_msg->step = width * unit_step_size_[stream_index];
undistorted_image_msg->header.frame_id = frame_id;
color_undistortion_publisher_->publish(std::move(undistorted_image_msg));
memset(&distortion, 0, sizeof(distortion));
}
sensor_msgs::msg::CameraInfo camera_info{};
@@ -3235,19 +3246,6 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
fps_delay_status_depth_->tick(frame_timestamp);
}
image_publishers_[stream_index]->publish(std::move(image_msg));
if (stream_index == COLOR && enable_color_undistortion_ &&
color_undistortion_publisher_->get_subscription_count() > 0) {
auto undistorted_image = undistortImage(image, intrinsic, distortion);
sensor_msgs::msg::Image::UniquePtr undistorted_image_msg(new sensor_msgs::msg::Image());
cv_bridge::CvImage(std_msgs::msg::Header(), encoding_[stream_index], undistorted_image)
.toImageMsg(*undistorted_image_msg);
CHECK_NOTNULL(undistorted_image_msg.get());
undistorted_image_msg->header.stamp = timestamp;
undistorted_image_msg->is_bigendian = false;
undistorted_image_msg->step = width * unit_step_size_[stream_index];
undistorted_image_msg->header.frame_id = frame_id;
color_undistortion_publisher_->publish(std::move(undistorted_image_msg));
}
}
void OBCameraNode::publishMetadata(const std::shared_ptr<ob::Frame> &frame,