i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-08 13:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

when d2c_viewer enable set align true

Browse Source
This commit is contained in:
Joe Dong
2024-09-09 19:41:42 +08:00
parent 26ee0d676d
commit 0e8df5322e
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/src/ob_camera_node.cpp
+2 -2
View File
@@ -1026,7 +1026,7 @@ void OBCameraNode::getParameters() {
if (!depth_precision_str_.empty()) {
depth_precision_ = depthPrecisionLevelFromString(depth_precision_str_);
}
if (enable_colored_point_cloud_) {
if (enable_colored_point_cloud_ || enable_d2c_viewer_) {
depth_registration_ = true;
}
if (!enable_stream_[COLOR]) {
@@ -1899,7 +1899,7 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
: camera_params.depthIntrinsic;
distortion = stream_index.first == OB_STREAM_COLOR ? camera_params.rgbDistortion
: camera_params.depthDistortion;
if(pid == DABAI_MAX_PID){
if (pid == DABAI_MAX_PID) {
// use color param
intrinsic = camera_params.rgbIntrinsic;
distortion = camera_params.rgbDistortion;