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Fixed bolt align

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This commit is contained in:
Joe Dong
2024-05-30 10:15:38 +08:00
parent ef2e297aa5
commit 8bd278b6ff
2 changed files with 3 additions and 3 deletions
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orbbec_camera/launch/femto_bolt.launch.py
+1 -1
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@@ -78,7 +78,7 @@ def generate_launch_description():
DeclareLaunchArgument('ordered_pc', default_value='false'), DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='false'), DeclareLaunchArgument('use_hardware_time', default_value='false'),
DeclareLaunchArgument('enable_depth_scale', default_value='true'), DeclareLaunchArgument('enable_depth_scale', default_value='true'),
DeclareLaunchArgument('align_mode', default_value='HW'), DeclareLaunchArgument('align_mode', default_value='SW'),
] ]
# Node configuration # Node configuration
orbbec_camera/src/ob_camera_node.cpp
+2 -2
View File
@@ -947,13 +947,13 @@ void OBCameraNode::setupPipelineConfig() {
auto device_info = device_->getDeviceInfo(); auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info.get()); CHECK_NOTNULL(device_info.get());
auto pid = device_info->pid(); auto pid = device_info->pid();
RCLCPP_INFO_STREAM(logger_, "enable depth scale " << (enable_depth_scale_ ? "ON" : "OFF"));
pipeline_config_->setDepthScaleRequire(enable_depth_scale_);
if (depth_registration_ && enable_stream_[COLOR] && enable_stream_[DEPTH] && if (depth_registration_ && enable_stream_[COLOR] && enable_stream_[DEPTH] &&
!isGemini335PID(pid)) { !isGemini335PID(pid)) {
OBAlignMode align_mode = align_mode_ == "HW" ? ALIGN_D2C_HW_MODE : ALIGN_D2C_SW_MODE; 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_, "set align mode to " << magic_enum::enum_name(align_mode));
pipeline_config_->setAlignMode(align_mode); pipeline_config_->setAlignMode(align_mode);
RCLCPP_INFO_STREAM(logger_, "enable depth scale " << (enable_depth_scale_ ? "ON" : "OFF"));
pipeline_config_->setDepthScaleRequire(enable_depth_scale_);
} }
for (const auto &stream_index : IMAGE_STREAMS) { for (const auto &stream_index : IMAGE_STREAMS) {
if (enable_stream_[stream_index]) { if (enable_stream_[stream_index]) {