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jj
2024-11-08 10:51:31 +08:00
parent 8fef735d43
commit 6c95ae880c
1 changed files with 20 additions and 27 deletions
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orbbec_camera/src/ob_camera_node.cpp
+20 -27
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@@ -724,8 +724,7 @@ void OBCameraNode::setupProfiles() {
images_[elem] = cv::Mat(height_[elem], width_[elem], CV_8UC4, cv::Scalar(0, 0, 0, 0));
encoding_[elem] = sensor_msgs::image_encodings::RGBA8;
unit_step_size_[COLOR] = 4 * sizeof(uint8_t);
}
else {
} else {
images_[elem] =
cv::Mat(height_[elem], width_[elem], image_format_[elem], cv::Scalar(0, 0, 0));
}
@@ -1735,35 +1734,29 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
if (depth_frame && depth_frame->hasMetadata(OB_FRAME_METADATA_TYPE_LASER_STATUS)) {
depth_laser_status = depth_frame->getMetadataValue(OB_FRAME_METADATA_TYPE_LASER_STATUS) == 1;
}
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info.get());
auto pid = device_info->getPid();
auto color_frame = frame_set->getFrame(OB_FRAME_COLOR);
if (isGemini335PID(pid)) {
depth_frame = processDepthFrameFilter(depth_frame);
bool depth_aligned = false;
if (depth_frame) {
frame_set->pushFrame(depth_frame);
}
if (depth_registration_ && align_filter_ && depth_frame && color_frame) {
if (auto new_frame = align_filter_->process(frame_set)) {
auto new_frame_set = new_frame->as<ob::FrameSet>();
CHECK_NOTNULL(new_frame_set.get());
frame_set = new_frame_set;
depth_aligned = true;
} else {
RCLCPP_ERROR(logger_, "Failed to align depth frame to color frame");
return;
}
depth_frame = processDepthFrameFilter(depth_frame);
bool depth_aligned = false;
if (depth_frame) {
frame_set->pushFrame(depth_frame);
}
if (depth_registration_ && align_filter_ && depth_frame && color_frame) {
if (auto new_frame = align_filter_->process(frame_set)) {
auto new_frame_set = new_frame->as<ob::FrameSet>();
CHECK_NOTNULL(new_frame_set.get());
frame_set = new_frame_set;
depth_aligned = true;
} else {
RCLCPP_DEBUG(logger_,
"Depth registration is disabled or align filter is null or depth frame is "
"null or color frame is null");
}
if (depth_registration_ && align_filter_ && !depth_aligned) {
RCLCPP_ERROR(logger_, "Failed to align depth frame to color frame");
return;
}
} else {
RCLCPP_DEBUG(logger_,
"Depth registration is disabled or align filter is null or depth frame is "
"null or color frame is null");
}
if (depth_registration_ && align_filter_ && !depth_aligned) {
return;
}
if (enable_stream_[COLOR] && color_frame) {