i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-04 20:17:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update Log

Browse Source
This commit is contained in:
Joe Dong
2024-04-18 10:32:31 +08:00
parent 3bd7a69821
commit 81f1ed327c
2 changed files with 5 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/src/ob_camera_node.cpp
+4 -4
View File
@@ -222,10 +222,8 @@ void OBCameraNode::setupDevices() {
auto default_precision_level = device_->getIntProperty(OB_PROP_DEPTH_PRECISION_LEVEL_INT);
if (default_precision_level != depth_precision_) {
device_->setIntProperty(OB_PROP_DEPTH_PRECISION_LEVEL_INT, depth_precision_);
RCLCPP_INFO_STREAM(logger_, "set depth precision to " << depth_precision_str_);
}
int32_t precisionLevel = device_->getIntProperty(OB_PROP_DEPTH_PRECISION_LEVEL_INT);
RCLCPP_INFO_STREAM(logger_, "Depth precision level:" << precisionLevel);
}
if (device_->isPropertySupported(OB_PROP_DEPTH_UNIT_FLEXIBLE_ADJUSTMENT_FLOAT,
OB_PERMISSION_READ_WRITE)) {
@@ -239,6 +237,8 @@ void OBCameraNode::setupDevices() {
logger_,
"depth unit flexible adjustment value is out of range, please check the value");
} else {
RCLCPP_INFO_STREAM(logger_, "set depth unit to "
<< depth_unit_flexible_adjustment << "mm");
device_->setFloatProperty(OB_PROP_DEPTH_UNIT_FLEXIBLE_ADJUSTMENT_FLOAT,
depth_unit_flexible_adjustment);
}
@@ -780,7 +780,7 @@ void OBCameraNode::setupPipelineConfig() {
pipeline_config_ = std::make_shared<ob::Config>();
pipeline_config_->setDepthScaleRequire(enable_depth_scale_);
if (depth_registration_ && enable_stream_[COLOR] && enable_stream_[DEPTH]) {
RCLCPP_INFO_STREAM(logger_, "===set align mode to =====" << align_mode_);
RCLCPP_INFO_STREAM(logger_, "set align mode to " << align_mode_);
OBAlignMode align_mode = align_mode_ == "HW" ? ALIGN_D2C_HW_MODE : ALIGN_D2C_SW_MODE;
pipeline_config_->setAlignMode(align_mode);
}