i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-09-12 19:20:20 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update align mode parameter in OBCameraNode

Browse Source
This commit is contained in:
Joe Dong
2024-04-07 15:51:21 +08:00
parent 9b6b90d9cb
commit 332e69fe09
2 changed files with 4 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1
View File
@@ -498,5 +498,6 @@ class OBCameraNode {
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr filter_status_pub_;
nlohmann::json filter_status_;
std::string align_mode_ = "HW";
};
} // namespace orbbec_camera
orbbec_camera/src/ob_camera_node.cpp
+3 -1
View File
@@ -688,6 +688,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<float>(temporal_filter_weight_, "temporal_filter_weight", 0.4);
setAndGetNodeParameter<std::string>(hole_filling_filter_mode_, "hole_filling_filter_mode",
"FILL_TOP");
setAndGetNodeParameter<std::string>(align_mode_, "align_mode", "HW");
}
void OBCameraNode::setupTopics() {
@@ -712,7 +713,8 @@ void OBCameraNode::setupPipelineConfig() {
pipeline_config_->setAlignMode(ALIGN_D2C_SW_MODE);
} else {
RCLCPP_INFO_STREAM(logger_, "set align mode ALIGN_D2C_HW_MODE.");
pipeline_config_->setAlignMode(ALIGN_D2C_HW_MODE);
OBAlignMode align_mode = align_mode_ == "HW" ? ALIGN_D2C_HW_MODE : ALIGN_D2C_SW_MODE;
pipeline_config_->setAlignMode(align_mode);
}
}
for (const auto &stream_index : IMAGE_STREAMS) {