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Merge branch 'fix/bug' into merge/sdk_2.8.1

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ob-yalian
2026-04-02 16:12:46 +08:00
parent 6a76ba5c58 e37df1a27c
commit f259887a42
5 changed files with 20 additions and 19 deletions
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orbbec_camera/src/ob_camera_node.cpp
+6 -9
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@@ -365,8 +365,7 @@ void OBCameraNode::setupDevices() {
RCLCPP_INFO_STREAM(logger_, "Setting heartbeat to " << (enable_heartbeat_ ? "ON" : "OFF"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_HEARTBEAT_BOOL, enable_heartbeat_);
}
RCLCPP_INFO_STREAM(logger_, "Setting firmware log to "
<< (enable_firmware_log_ ? "ON" : "OFF"));
RCLCPP_INFO_STREAM(logger_, "Setting firmware log to " << (enable_firmware_log_ ? "ON" : "OFF"));
device_->enableFirmwareLog(enable_firmware_log_);
if (max_depth_limit_ > 0 &&
device_->isPropertySupported(OB_PROP_MAX_DEPTH_INT, OB_PERMISSION_READ_WRITE)) {
@@ -2770,7 +2769,6 @@ void OBCameraNode::publishRawDepthImage(const std::shared_ptr<ob::Frame> &depth_
}
void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &frame_set) {
(void)frame_set;
if (!depth_cloud_pub_ || depth_cloud_pub_->get_subscription_count() == 0 ||
!enable_point_cloud_) {
return;
@@ -3105,7 +3103,7 @@ std::shared_ptr<ob::Frame> OBCameraNode::processDepthFrameFilter(
if (filter->isEnabled() && frame != nullptr) {
frame = filter->process(frame);
if (frame == nullptr) {
RCLCPP_ERROR_STREAM(logger_, "Depth filter process failed");
RCLCPP_WARN_STREAM(logger_, "Depth filter process failed, frame is null");
break;
}
}
@@ -3261,8 +3259,10 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
setDisparitySearchOffset();
setDepthAutoExposureROI();
depth_frame = processDepthFrameFilter(depth_frame);
frame_set->pushFrame(depth_frame);
fps_counter_depth_->tick();
if (depth_frame) {
frame_set->pushFrame(depth_frame);
fps_counter_depth_->tick();
}
}
if (color_frame) {
setColorAutoExposureROI();
@@ -3750,9 +3750,6 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
camera_info.p.at(7) = -fy * ex.trans[1] / 1000.0 + 0.0;
}
CHECK_NOTNULL(image_publishers_[stream_index]);
if (!has_raw_image_subscriber && !enable_undistortion_publish) {
return;
}
if (image.empty() || image.cols != width || image.rows != height) {
image.create(height, width, image_format_[stream_index]);
}