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fix: simplify alignment mode setup in setupPipelineConfig

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ob-yalian
2025-12-29 09:54:10 +08:00
parent 6907d34a1c
commit 4f5a2a78ab
1 changed files with 2 additions and 3 deletions
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orbbec_camera/src/ob_camera_node.cpp
+2 -3
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@@ -2205,10 +2205,9 @@ void OBCameraNode::setupPipelineConfig() {
pipeline_config_ = std::make_shared<ob::Config>();
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info.get());
auto pid = device_info->getPid();
if (depth_registration_ && enable_stream_[COLOR] && enable_stream_[DEPTH] &&
!isGemini335PID(pid)) {
OBAlignMode align_mode = align_mode_ == "HW" ? ALIGN_D2C_HW_MODE : ALIGN_D2C_SW_MODE;
align_mode_ == "HW") {
OBAlignMode align_mode = ALIGN_D2C_HW_MODE;
RCLCPP_INFO_STREAM(logger_, "set align mode to " << magic_enum::enum_name(align_mode));
pipeline_config_->setAlignMode(align_mode);
RCLCPP_INFO_STREAM(logger_, "enable depth scale " << (enable_depth_scale_ ? "ON" : "OFF"));