The color_frame_id_ field is not properly initialized now that old parameter loading code has been commented out. This causes issues when depth registration is enabled, since in that case, the color frame ID is assigned to the depth image.
This commit adds default values for both frames, and also allows both to be set via parameters in the same way as other parameters added recently.
The
color_frame_id_
field is not properly initialized now that old parameter loading code has been commented out. This causes issues when depth registration is enabled, since in that case, the color frame ID is assigned to the depth image.This commit adds default values for both frames, and also allows both to be set via parameters in the same way as other parameters added recently.