Fix the issue of acquiring color intrinsic parameters in topic

orbbec · Jan 18, 2024 · 7b94b97 · 7b94b97
1 parent 4247a61
commit 7b94b97
Showing 1 changed file with 2 additions and 8 deletions.
diff --git a/src/ob_camera_node.cpp b/src/ob_camera_node.cpp
@@ -528,10 +528,8 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet>& f
     return;
   }
 
-  if (!camera_params_ && depth_registration_) {
+  if(!camera_params_) {
     camera_params_ = pipeline_->getCameraParam();
-  } else if (!camera_params_) {
-    camera_params_ = getCameraDepthParam();
   }
 
   if (!camera_params_) {
@@ -1005,12 +1003,8 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame>& frame,
   int height = static_cast<int>(video_frame->height());
 
   auto timestamp = frameTimeStampToROSTime(video_frame->systemTimeStamp());
-  if (!camera_params_ && depth_registration_) {
+  if (!camera_params_) {
     camera_params_ = pipeline_->getCameraParam();
-  } else if (!camera_params_ && stream_index == COLOR) {
-    camera_params_ = getCameraColorParam();
-  } else if (!camera_params_ && (stream_index == DEPTH || stream_index == INFRA0)) {
-    camera_params_ = getCameraDepthParam();
   }
 
   std::string frame_id =