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fix: correct runtime software alignment behavior

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slz
2026-09-07 17:17:45 +08:00
parent 7c4954791c
commit 9960d22a32
1 changed files with 12 additions and 10 deletions
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orbbec_camera/src/ob_camera_node.cpp
+12 -10
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@@ -6036,7 +6036,9 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &f
}
auto frame_timestamp = getFrameTimestampUs(depth_frame);
auto timestamp = fromUsToROSTime(frame_timestamp);
std::string frame_id = depth_registration_ ? optical_frame_id_[COLOR] : optical_frame_id_[DEPTH];
std::string frame_id = depth_registration_ && align_target_stream_ == OB_STREAM_COLOR
? depth_aligned_frame_id_[DEPTH]
: optical_frame_id_[DEPTH];
if (!cloud_frame_id_.empty()) {
frame_id = cloud_frame_id_;
}
@@ -6536,11 +6538,11 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
}
}
if (depth_registration_ && align_filter_ && depth_frame) {
publishRawDepthImage(depth_frame);
auto target_frame_type = STREAM_TYPE_TO_FRAME_TYPE.at(align_target_stream_);
if (!frame_set->getFrame(target_frame_type) || !color_frame) {
RCLCPP_DEBUG_STREAM(
logger_, "Depth registration requires depth and color frames, skip software alignment");
if (align_target_stream_ == OB_STREAM_COLOR) {
publishRawDepthImage(depth_frame);
}
if (align_target_stream_ == OB_STREAM_DEPTH && !color_frame) {
RCLCPP_DEBUG_STREAM(logger_, "C2D alignment requires a color frame, skip alignment");
} else {
auto align_color_frame = color_frame;
if (align_target_stream_ == OB_STREAM_DEPTH) {
@@ -6568,7 +6570,7 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
frame_set->pushFrame(color_frame);
}
}
if (align_color_frame) {
if (align_target_stream_ != OB_STREAM_DEPTH || align_color_frame) {
if (auto new_frame = align_filter_->process(frame_set)) {
auto new_frame_set = new_frame->as<ob::FrameSet>();
CHECK_NOTNULL(new_frame_set.get());
@@ -6583,8 +6585,8 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
}
} else {
RCLCPP_DEBUG_ONCE(logger_,
"Depth registration is disabled or align filter is null or depth frame is "
"null or color frame is null");
"Depth registration is disabled, align filter is null, or depth frame is "
"null");
}
if (enable_enhanced_depth_.load()) {
@@ -7077,7 +7079,7 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
distortion = camera_params.rgbDistortion;
}
std::string frame_id = optical_frame_id_[stream_index];
if (depth_registration_ && stream_index == DEPTH) {
if (depth_registration_ && align_target_stream_ == OB_STREAM_COLOR && stream_index == DEPTH) {
frame_id = depth_aligned_frame_id_[stream_index];
}
sensor_msgs::msg::CameraInfo camera_info{};