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fix: add early returns in post-process filter setup methods for disabled streams

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This commit is contained in:
slz
2026-06-12 16:18:41 +08:00
parent 7c8a4950dd
commit 8bbd735d08
1 changed files with 20 additions and 15 deletions
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orbbec_camera/src/ob_camera_node.cpp
+20 -15
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@@ -2305,6 +2305,9 @@ void OBCameraNode::syncConfigJsonFilterSettings(
}
void OBCameraNode::setupColorPostProcessFilter() {
if (!enable_stream_[COLOR] && !enable_stream_[COLOR_LEFT] && !enable_stream_[COLOR_RIGHT]) {
return;
}
try {
auto color_sensor = device_->getSensor(OB_SENSOR_COLOR);
if (color_sensor) {
@@ -2452,6 +2455,9 @@ void OBCameraNode::setupColorPostProcessFilter() {
}
void OBCameraNode::setupIrPostProcessFilter() {
if (!enable_stream_[INFRA0]) {
return;
}
try {
auto ir_sensor = device_->getSensor(OB_SENSOR_IR);
ir_filter_list_ = ir_sensor->createRecommendedFilters();
@@ -2579,6 +2585,9 @@ void OBCameraNode::applyHwD2CColorUndistortion(std::shared_ptr<ob::FrameSet> &fr
}
void OBCameraNode::setupLeftIrPostProcessFilter() {
if (!enable_stream_[INFRA1]) {
return;
}
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info);
if (isGemini335PID(pid_)) {
@@ -2617,6 +2626,9 @@ void OBCameraNode::setupLeftIrPostProcessFilter() {
}
void OBCameraNode::setupRightIrPostProcessFilter() {
if (!enable_stream_[INFRA2]) {
return;
}
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info);
if (isGemini335PID(pid_)) {
@@ -2654,6 +2666,9 @@ void OBCameraNode::setupRightIrPostProcessFilter() {
}
}
void OBCameraNode::setupDepthPostProcessFilter() {
if (!enable_stream_[DEPTH]) {
return;
}
auto depth_sensor = device_->getSensor(OB_SENSOR_DEPTH);
// set depth sensor to filter
depth_filter_list_ = depth_sensor->createRecommendedFilters();
@@ -3856,21 +3871,11 @@ void OBCameraNode::setupTopics() {
getParameters();
loadConfigJson();
setupDevices();
if (enable_stream_[DEPTH]) {
setupDepthPostProcessFilter();
}
if (enable_stream_[COLOR] || enable_stream_[COLOR_LEFT] || enable_stream_[COLOR_RIGHT]) {
setupColorPostProcessFilter();
}
if (enable_stream_[INFRA0]) {
setupIrPostProcessFilter();
}
if (enable_stream_[INFRA2]) {
setupRightIrPostProcessFilter();
}
if (enable_stream_[INFRA1]) {
setupLeftIrPostProcessFilter();
}
setupDepthPostProcessFilter();
setupColorPostProcessFilter();
setupIrPostProcessFilter();
setupRightIrPostProcessFilter();
setupLeftIrPostProcessFilter();
setupUndistortionFilters();
syncConfigJsonDeviceSettings();
syncConfigJsonFilterSettings(depth_filter_list_, "depth");