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fixed depth no laser status

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This commit is contained in:
Joe Dong
2024-07-13 16:56:02 +08:00
parent 25a63d0422
commit 74343bbe1a
1 changed files with 3 additions and 3 deletions
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orbbec_camera/src/ob_camera_node.cpp
+3 -3
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@@ -1465,7 +1465,7 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
tf_published_ = true;
}
depth_frame_ = frame_set->getFrame(OB_FRAME_DEPTH);
bool depth_laser_status = false;
bool depth_laser_status = true;
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;
}
@@ -1520,9 +1520,9 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
if (is_ir_frame) {
std::shared_ptr<ob::Frame> ir_frame =
frame->format() == OB_FORMAT_MJPG ? decodeIRMJPGFrame(frame) : frame;
bool ir_laser_status = false;
bool ir_laser_status = true;
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;
ir_laser_status = ir_frame->getMetadataValue(OB_FRAME_METADATA_TYPE_LASER_STATUS) == 0;
}
if (ir_frame && (!enable_3d_reconstruction_mode_ || !ir_laser_status)) {
onNewFrameCallback(ir_frame, stream_index);