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

add enable frame sync

Browse Source
This commit is contained in:
Joe Dong
2023-09-25 11:40:22 +08:00
parent 6abfafed2b
commit 8c1f359040
2 changed files with 4 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/launch/gemini2.launch.py
+1 -1
View File
@@ -18,7 +18,7 @@ def generate_launch_description():
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'), DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''), DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'), DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'), DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'),
DeclareLaunchArgument('point_cloud_qos', default_value='default'), DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'), DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='640'), DeclareLaunchArgument('color_width', default_value='640'),
orbbec_camera/src/ob_camera_node.cpp
+3
View File
@@ -253,6 +253,9 @@ void OBCameraNode::startStreams() {
onNewFrameSetCallback(frame_set); onNewFrameSetCallback(frame_set);
}); });
} }
if (pipeline_ && (depth_registration_ || enable_colored_point_cloud_)) {
pipeline_->enableFrameSync();
}
pipeline_started_.store(true); pipeline_started_.store(true);
startIMU(); startIMU();
} }