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Optimize frame processing sequence in onNewColorFrameCallback to reduce color topic latency

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xiexun
2025-09-02 17:06:59 +08:00
parent 10474bcb07
commit 78c4d68fb1
1 changed files with 1 additions and 1 deletions
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orbbec_camera/src/ob_camera_node.cpp
+1 -1
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@@ -2805,8 +2805,8 @@ void OBCameraNode::onNewColorFrameCallback() {
} }
std::shared_ptr<ob::FrameSet> frameSet = color_frame_queue_.front(); std::shared_ptr<ob::FrameSet> frameSet = color_frame_queue_.front();
is_color_frame_decoded_ = decodeColorFrameToBuffer(frameSet->colorFrame(), rgb_buffer_); is_color_frame_decoded_ = decodeColorFrameToBuffer(frameSet->colorFrame(), rgb_buffer_);
publishPointCloud(frameSet);
onNewFrameCallback(frameSet->colorFrame(), COLOR); onNewFrameCallback(frameSet->colorFrame(), COLOR);
publishPointCloud(frameSet);
color_frame_queue_.pop(); color_frame_queue_.pop();
} }