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fix point cloud dist

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This commit is contained in:
Joe Dong
2023-03-24 14:45:35 +08:00
parent 9cf0fa5eb7
commit ed8898cd47
1 changed files with 1 additions and 1 deletions
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orbbec_camera/src/ob_camera_node.cpp
+1 -1
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@@ -542,13 +542,13 @@ void OBCameraNode::onNewFrameSetCallback(const std::shared_ptr<ob::FrameSet>& fr
return;
}
try {
publishPointCloud(frame_set);
auto color_frame = std::dynamic_pointer_cast<ob::Frame>(frame_set->colorFrame());
auto depth_frame = std::dynamic_pointer_cast<ob::Frame>(frame_set->depthFrame());
auto ir_frame = std::dynamic_pointer_cast<ob::Frame>(frame_set->irFrame());
onNewFrameCallback(color_frame, COLOR);
onNewFrameCallback(depth_frame, DEPTH);
onNewFrameCallback(ir_frame, INFRA0);
publishPointCloud(frame_set);
} catch (const ob::Error& e) {
RCLCPP_ERROR_STREAM(logger_, "onNewFrameSetCallback error: " << e.getMessage());
} catch (const std::exception& e) {