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No longer judging ir_laser_status

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datean
2024-12-23 16:13:44 +08:00
parent ee95e67386
commit 7239949d5f
1 changed files with 2 additions and 18 deletions
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orbbec_camera/src/ob_camera_node.cpp
+2 -18
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@@ -1152,9 +1152,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(depth_ae_roi_top_, "depth_ae_roi_top", -1);
setAndGetNodeParameter<int>(depth_ae_roi_right_, "depth_ae_roi_right", -1);
setAndGetNodeParameter<int>(depth_ae_roi_bottom_, "depth_ae_roi_bottom", -1);
if (enable_3d_reconstruction_mode_) {
laser_on_off_mode_ = 1; // 0 off, 1 on-off, 1 off-on
}
setAndGetNodeParameter<std::string>(time_domain_, "time_domain", "device");
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info.get());
@@ -1770,21 +1768,7 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
if (stream_index == DEPTH) {
frame = depth_frame_;
}
auto is_ir_frame = frame_type == OB_FRAME_IR_LEFT || frame_type == OB_FRAME_IR_RIGHT ||
frame_type == OB_FRAME_IR;
if (is_ir_frame) {
std::shared_ptr<ob::Frame> ir_frame =
frame->format() == OB_FORMAT_MJPG ? decodeIRMJPGFrame(frame) : frame;
bool ir_laser_status = false;
if (ir_frame && ir_frame->hasMetadata(OB_FRAME_METADATA_TYPE_LASER_STATUS)) {
ir_laser_status = ir_frame->getMetadataValue(OB_FRAME_METADATA_TYPE_LASER_STATUS) == 1;
}
if (ir_frame && (!enable_3d_reconstruction_mode_ || !ir_laser_status)) {
onNewFrameCallback(ir_frame, stream_index);
}
} else if (frame_type == OB_FRAME_DEPTH) {
onNewFrameCallback(frame, stream_index);
}
onNewFrameCallback(frame, stream_index);
}
}