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fixed bug #53

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This commit is contained in:
Joe Dong
2024-07-13 17:08:20 +08:00
parent 74343bbe1a
commit e9f053f47f
1 changed files with 4 additions and 4 deletions
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orbbec_camera/src/ob_camera_node.cpp
+4 -4
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@@ -1465,7 +1465,7 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
tf_published_ = true; tf_published_ = true;
} }
depth_frame_ = frame_set->getFrame(OB_FRAME_DEPTH); depth_frame_ = frame_set->getFrame(OB_FRAME_DEPTH);
bool depth_laser_status = true; bool depth_laser_status = false;
if (depth_frame_ && depth_frame_->hasMetadata(OB_FRAME_METADATA_TYPE_LASER_STATUS)) { if (depth_frame_ && depth_frame_->hasMetadata(OB_FRAME_METADATA_TYPE_LASER_STATUS)) {
depth_laser_status = depth_frame_->getMetadataValue(OB_FRAME_METADATA_TYPE_LASER_STATUS) == 1; depth_laser_status = depth_frame_->getMetadataValue(OB_FRAME_METADATA_TYPE_LASER_STATUS) == 1;
} }
@@ -1513,16 +1513,16 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
continue; continue;
} }
if (stream_index == DEPTH) { if (stream_index == DEPTH) {
frame = depth_laser_status ? depth_frame_ : nullptr; frame = (enable_3d_reconstruction_mode_ && !depth_laser_status) ? nullptr : depth_frame_;
} }
auto is_ir_frame = frame_type == OB_FRAME_IR_LEFT || frame_type == OB_FRAME_IR_RIGHT || auto is_ir_frame = frame_type == OB_FRAME_IR_LEFT || frame_type == OB_FRAME_IR_RIGHT ||
frame_type == OB_FRAME_IR; frame_type == OB_FRAME_IR;
if (is_ir_frame) { if (is_ir_frame) {
std::shared_ptr<ob::Frame> ir_frame = std::shared_ptr<ob::Frame> ir_frame =
frame->format() == OB_FORMAT_MJPG ? decodeIRMJPGFrame(frame) : frame; frame->format() == OB_FORMAT_MJPG ? decodeIRMJPGFrame(frame) : frame;
bool ir_laser_status = true; bool ir_laser_status = false;
if (ir_frame && ir_frame->hasMetadata(OB_FRAME_METADATA_TYPE_LASER_STATUS)) { if (ir_frame && ir_frame->hasMetadata(OB_FRAME_METADATA_TYPE_LASER_STATUS)) {
ir_laser_status = ir_frame->getMetadataValue(OB_FRAME_METADATA_TYPE_LASER_STATUS) == 0; ir_laser_status = ir_frame->getMetadataValue(OB_FRAME_METADATA_TYPE_LASER_STATUS) == 1;
} }
if (ir_frame && (!enable_3d_reconstruction_mode_ || !ir_laser_status)) { if (ir_frame && (!enable_3d_reconstruction_mode_ || !ir_laser_status)) {
onNewFrameCallback(ir_frame, stream_index); onNewFrameCallback(ir_frame, stream_index);