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fix: enhance depth filter processing by cloning frame set and preserving original color frame

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This commit is contained in:
ob-yalian
2026-07-16 21:37:59 +08:00
parent 17e627f251
commit bc2cd58db9
1 changed files with 15 additions and 5 deletions
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orbbec_camera/src/ob_camera_node.cpp
+15 -5
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@@ -5209,14 +5209,12 @@ std::shared_ptr<ob::FrameSet> OBCameraNode::processEnhancedDepthFilter(
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *node_->get_clock(), 1000, message);
return frame_set;
}
if (!frame_set->getFrame(OB_FRAME_COLOR) || !frame_set->getFrame(OB_FRAME_DEPTH)) {
auto original_color_frame = frame_set->getFrame(OB_FRAME_COLOR);
if (!original_color_frame || !frame_set->getFrame(OB_FRAME_DEPTH)) {
RCLCPP_ERROR_THROTTLE(logger_, *node_->get_clock(), 1000,
"Enhanced depth filter requires color and depth frames");
return frame_set;
}
if (!convertEnhancedDepthColorFrame(frame_set)) {
return frame_set;
}
std::shared_ptr<ob::EnhancedDepthFilter> filter;
{
@@ -5228,13 +5226,25 @@ std::shared_ptr<ob::FrameSet> OBCameraNode::processEnhancedDepthFilter(
}
try {
auto processed = filter->process(frame_set);
// Convert color only in the filter input so downstream publishers keep the configured format.
auto cloned_frame_set = ob::FrameFactory::createFrameFromOtherFrame(frame_set, false);
if (!cloned_frame_set || !cloned_frame_set->is<ob::FrameSet>()) {
RCLCPP_ERROR_THROTTLE(logger_, *node_->get_clock(), 1000,
"Failed to clone frameset for enhanced depth filter");
return frame_set;
}
auto filter_frame_set = cloned_frame_set->as<ob::FrameSet>();
if (!convertEnhancedDepthColorFrame(filter_frame_set)) {
return frame_set;
}
auto processed = filter->process(filter_frame_set);
if (!processed || !processed->is<ob::FrameSet>()) {
RCLCPP_ERROR_THROTTLE(logger_, *node_->get_clock(), 1000,
"Enhanced depth filter returned invalid frameset");
return frame_set;
}
auto processed_frame_set = processed->as<ob::FrameSet>();
processed_frame_set->pushFrame(original_color_frame);
publishConfidenceFrame(processed_frame_set->getFrame(OB_FRAME_CONFIDENCE));
return processed_frame_set;
} catch (const ob::Error &e) {