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Fixed wrong ir frame id

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This commit is contained in:
Joe Dong
2024-07-29 09:05:23 +08:00
parent ed6d2b9602
commit 709d59987f
1 changed files with 4 additions and 2 deletions
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orbbec_camera/src/ob_camera_node.cpp
+4 -2
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@@ -1768,8 +1768,10 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
distortion = stream_index.first == OB_STREAM_COLOR ? camera_params.rgbDistortion
: camera_params.depthDistortion;
}
std::string frame_id =
depth_registration_ ? depth_aligned_frame_id_[stream_index] : optical_frame_id_[stream_index];
std::string frame_id = optical_frame_id_[stream_index];
if (depth_registration_ && stream_index == DEPTH) {
frame_id = depth_aligned_frame_id_[stream_index];
}
auto camera_info = convertToCameraInfo(intrinsic, distortion, width);
camera_info.header.stamp = timestamp;
camera_info.header.frame_id = frame_id;