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Publish /aligned_depth_to_color topic only when color frame present #2793

Merged
merged 1 commit into from
Jun 27, 2023
Merged

Publish /aligned_depth_to_color topic only when color frame present #2793

merged 1 commit into from
Jun 27, 2023

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Arun-Prasad-V
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Issue:

  • /aligned_depth_to_color topic has unaligned images as well published randomly
  • Happens especially when rgb module frame rate is less than depth module frame rate

Root cause:

  • When a particular frameset have only depth frame and not color frame, alignment will not happen. But still, the unaligned image is getting published

Fix:

  • Publish aligned image only when both color and depth frames are present in the frameset

SamerKhshiboun
SamerKhshiboun approved these changes Jun 27, 2023
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@SamerKhshiboun SamerKhshiboun left a comment

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LGTM

@Nir-Az Nir-Az merged commit aecccac into IntelRealSense:ros2-development Jun 27, 2023
@kenloumixx kenloumixx mentioned this pull request Jul 5, 2023
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@Arun-Prasad-V Arun-Prasad-V deleted the align_color branch August 10, 2023 05:35
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@SamerKhshiboun SamerKhshiboun SamerKhshiboun approved these changes

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@Arun-Prasad-V @SamerKhshiboun @Nir-Az