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fix: update image format handling for Y16 in updateImageConfig

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slz
2026-01-16 16:27:41 +08:00
parent b8b1dc5c3f
commit 6fda5befaf
1 changed files with 2 additions and 1 deletions
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orbbec_camera/src/ob_camera_node.cpp
+2 -1
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@@ -1567,7 +1567,8 @@ void OBCameraNode::updateImageConfig(const stream_index_pair &stream_index) {
unit_step_size_[stream_index] = sizeof(uint8_t);
}
}
if (format_[stream_index] == OB_FORMAT_Y16 && stream_index == COLOR) {
if (format_[stream_index] == OB_FORMAT_Y16 &&
(stream_index == COLOR || stream_index == COLOR_LEFT || stream_index == COLOR_RIGHT)) {
image_format_[stream_index] = CV_16UC1;
encoding_[stream_index] = sensor_msgs::image_encodings::MONO16;
unit_step_size_[stream_index] = sizeof(uint16_t);