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fix publish rgb point cloud

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This commit is contained in:
Joe Dong
2022-06-09 17:47:12 +08:00
parent 61bf2dd7b2
commit c748b580ec
2 changed files with 10 additions and 7 deletions
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orbbec_camera/src/ob_camera_node.cpp
+8 -5
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@@ -122,16 +122,18 @@ void OBCameraNode::setupProfiles() {
auto selected_profile =
profiles->getVideoStreamProfile(width_[elem], height_[elem], format_[elem], fps_[elem]);
auto default_profile = profiles->getVideoStreamProfile();
auto default_profile =
profiles->getVideoStreamProfile(width_[elem], height_[elem], format_[elem]);
if (!selected_profile) {
RCLCPP_WARN_STREAM(logger_, "Given stream configuration is not supported by the device! "
<< " Stream: " << magic_enum::enum_name(elem.first)
<< ", Stream Index: " << elem.second
<< ", Width: " << width_[elem]
<< ", Height: " << height_[elem] << ", FPS: " << fps_[elem]
<< ", Format: " << format_[elem]);
<< ", Format: " << magic_enum::enum_name(format_[elem]));
if (default_profile) {
RCLCPP_WARN_STREAM(logger_, "Using default profile instead.");
RCLCPP_WARN_STREAM(logger_, "default FPS " << default_profile->fps());
selected_profile = default_profile;
} else {
RCLCPP_ERROR_STREAM(
@@ -226,9 +228,10 @@ void OBCameraNode::publishPointCloud(std::shared_ptr<ob::FrameSet> frame_set) {
return;
}
try {
if (publish_rgb_point_cloud_ && frame_set->depthFrame() != nullptr &&
frame_set->colorFrame() != nullptr) {
publishColorPointCloud(frame_set);
if(publish_rgb_point_cloud_) {
if (frame_set->depthFrame() != nullptr && frame_set->colorFrame() != nullptr) {
publishColorPointCloud(frame_set);
}
} else if (frame_set->depthFrame() != nullptr) {
publishDepthPointCloud(frame_set);
}