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fix: enhance image processing by adding caching for undistortion maps

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This commit is contained in:
ob-yalian
2026-05-06 10:52:50 +08:00
parent 9b69bbfa57
commit d422a18b93
2 changed files with 85 additions and 31 deletions
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orbbec_camera/src/ob_camera_node.cpp
+13 -11
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@@ -4314,23 +4314,25 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
auto depth_scale = video_frame->as<ob::DepthFrame>()->getValueScale();
image = image * depth_scale;
}
sensor_msgs::msg::Image::UniquePtr image_msg(new sensor_msgs::msg::Image());
cv_bridge::CvImage(std_msgs::msg::Header(), encoding_[stream_index], image)
.toImageMsg(*image_msg);
CHECK_NOTNULL(image_msg.get());
image_msg->header.stamp = timestamp;
image_msg->is_bigendian = false;
image_msg->step = width * unit_step_size_[stream_index];
image_msg->header.frame_id = frame_id;
CHECK(image_publishers_.count(stream_index) > 0);
saveImageToFile(stream_index, image, *image_msg);
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) {
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)
.toImageMsg(*image_msg);
CHECK_NOTNULL(image_msg.get());
image_msg->header.stamp = timestamp;
image_msg->is_bigendian = false;
image_msg->step = width * unit_step_size_[stream_index];
image_msg->header.frame_id = frame_id;
saveImageToFile(stream_index, image, *image_msg);
if (!has_raw_image_subscriber) {
return;
}
if (frame_timestamp_csv_logger_ && frame_timestamp_csv_logger_->enabled() &&
(stream_index == COLOR || stream_index == DEPTH)) {
frame_timestamp_csv_logger_->recordPreImagePublish(stream_index.first, frame,