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修复colored_point_cloud

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jj
2024-09-05 13:51:46 +08:00
parent 12042209b2
commit 86424a338b
5 changed files with 5 additions and 8 deletions
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orbbec_camera/src/ob_camera_node.cpp
+2 -4
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@@ -1128,7 +1128,6 @@ void OBCameraNode::setupPipelineConfig() {
!isGemini335PID(pid)) {
OBAlignMode align_mode = align_mode_ == "HW" ? ALIGN_D2C_HW_MODE : ALIGN_D2C_SW_MODE;
RCLCPP_INFO_STREAM(logger_, "set align mode to " << magic_enum::enum_name(align_mode));
RCLCPP_INFO_STREAM(logger_, "jjjjj " << pipeline_config_);
calibration_param_ = pipeline_->getCalibrationParam(pipeline_config_);
pipeline_config_->setAlignMode(align_mode);
RCLCPP_INFO_STREAM(logger_, "enable depth scale " << (enable_depth_scale_ ? "ON" : "OFF"));
@@ -1402,11 +1401,10 @@ void OBCameraNode::publishColoredPointCloud(const std::shared_ptr<ob::FrameSet>
depth_height, color_width, color_height);
return;
}
RCLCPP_INFO_STREAM(logger_, "zzzzzzz" << pipeline_config_->getImpl());
if (!xy_tables_.has_value()) {
calibration_param_ = pipeline_->getCalibrationParam(pipeline_config_);
RCLCPP_INFO_STREAM(logger_, "jjjjjjjjjjjj" );
uint32_t table_size =
color_width * color_height * 2; // one for x-coordinate and one for y-coordinate LUT
@@ -2488,4 +2486,4 @@ orbbec_camera_msgs::msg::IMUInfo OBCameraNode::createIMUInfo(
return imu_info;
}
} // namespace orbbec_camera
} // namespace orbbec_camera