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Remove unnecessary judgments to avoid reducing the color frame rate

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datean
2024-12-23 15:12:04 +08:00
parent 0cf08b0c76
commit fa706a5b73
1 changed files with 1 additions and 6 deletions
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orbbec_camera/src/ob_camera_node.cpp
+1 -6
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@@ -1868,9 +1868,8 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
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;
} }
auto color_frame = frame_set->getFrame(OB_FRAME_COLOR); auto color_frame = frame_set->getFrame(OB_FRAME_COLOR);
depth_frame = processDepthFrameFilter(depth_frame);
bool depth_aligned = false;
if (depth_frame) { if (depth_frame) {
depth_frame = processDepthFrameFilter(depth_frame);
frame_set->pushFrame(depth_frame); frame_set->pushFrame(depth_frame);
} }
if (depth_registration_ && align_filter_ && depth_frame) { if (depth_registration_ && align_filter_ && depth_frame) {
@@ -1878,7 +1877,6 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
auto new_frame_set = new_frame->as<ob::FrameSet>(); auto new_frame_set = new_frame->as<ob::FrameSet>();
CHECK_NOTNULL(new_frame_set.get()); CHECK_NOTNULL(new_frame_set.get());
frame_set = new_frame_set; frame_set = new_frame_set;
depth_aligned = true;
} else { } else {
RCLCPP_ERROR(logger_, "Failed to align depth frame to color frame"); RCLCPP_ERROR(logger_, "Failed to align depth frame to color frame");
return; return;
@@ -1888,9 +1886,6 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
"Depth registration is disabled or align filter is null or depth frame is " "Depth registration is disabled or align filter is null or depth frame is "
"null or color frame is null"); "null or color frame is null");
} }
if (depth_registration_ && align_filter_ && !depth_aligned) {
return;
}
if (enable_stream_[COLOR] && color_frame) { if (enable_stream_[COLOR] && color_frame) {
std::unique_lock<std::mutex> lock(color_frame_queue_lock_); std::unique_lock<std::mutex> lock(color_frame_queue_lock_);