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feat: add FPS delay handling for color stream when no raw image subscriber is present

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slz
2026-05-21 16:18:53 +08:00
parent 781e0224cb
commit 9acb6ad225
1 changed files with 8 additions and 5 deletions
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orbbec_camera/src/ob_camera_node.cpp
+8 -5
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@@ -4283,6 +4283,9 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
if ((stream_index == COLOR || stream_index == COLOR_LEFT || stream_index == COLOR_RIGHT) &&
frame->getFormat() == OB_FORMAT_MJPG && has_compressed_image_subscriber) {
publishCompressedColorImage(frame, stream_index, timestamp, frame_id);
if (!has_raw_image_subscriber && stream_index == COLOR) {
fps_delay_status_color_->tick(frame_timestamp);
}
}
if (!has_raw_image_subscriber && !enable_undistortion_publish && !save_images_[stream_index]) {
@@ -4368,11 +4371,6 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
image = image * depth_scale;
}
CHECK(image_publishers_.count(stream_index) > 0);
if (stream_index == COLOR) {
fps_delay_status_color_->tick(frame_timestamp);
} else if (stream_index == DEPTH) {
fps_delay_status_depth_->tick(frame_timestamp);
}
if (has_raw_image_subscriber || save_images_[stream_index]) {
sensor_msgs::msg::Image::UniquePtr image_msg(new sensor_msgs::msg::Image());
cv_bridge::CvImage(std_msgs::msg::Header(), encoding_[stream_index], image)
@@ -4391,6 +4389,11 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
frame_timestamp_csv_logger_->recordPreImagePublish(stream_index.first, frame,
getSystemNowUs(), getSteadyNowUs());
}
if (stream_index == COLOR) {
fps_delay_status_color_->tick(frame_timestamp);
} else if (stream_index == DEPTH) {
fps_delay_status_depth_->tick(frame_timestamp);
}
image_publishers_[stream_index]->publish(std::move(image_msg));
}
}