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feat: enhance raw image publishing logic in onNewFrameCallback

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slz
2026-05-08 17:53:12 +08:00
parent d2d894741d
commit b54974876a
1 changed files with 8 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
+8
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@@ -4281,6 +4281,14 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
frame->getFormat() == OB_FORMAT_MJPG && has_compressed_image_subscriber) {
publishCompressedColorImage(frame, stream_index, timestamp, frame_id);
}
if (!has_raw_image_subscriber && !enable_undistortion_publish && !save_images_[stream_index]) {
CHECK(camera_info_publishers_.count(stream_index) > 0);
camera_info_publishers_[stream_index]->publish(camera_info);
publishMetadata(frame, stream_index, camera_info.header);
return;
}
CHECK_NOTNULL(image_publishers_[stream_index]);
if (image.empty() || image.cols != width || image.rows != height) {
image.create(height, width, image_format_[stream_index]);