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feat: drop depth when color not lost and D2C enable

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This commit is contained in:
Joe Dong
2024-08-22 20:30:57 +08:00
parent 596e80fcd1
commit c60662c8e1
1 changed files with 4 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
+4
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@@ -1571,6 +1571,10 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
"Depth registration is disabled or align filter is null or depth frame is "
"null or color frame is null");
}
if(depth_registration_ && align_filter_ && depth_frame_ && !color_frame){
RCLCPP_ERROR(logger_, "Color frame is null, cannot align depth frame to color frame, droped");
return;
}
}
if (enable_stream_[COLOR] && color_frame) {
std::unique_lock<std::mutex> lock(color_frame_queue_lock_);