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Enable depth scale in OBCameraNode

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This commit is contained in:
Joe Dong
2024-02-28 18:27:42 +08:00
parent bc4cfa1a0c
commit 8e9fa83a5f
3 changed files with 4 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
+2
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@@ -605,6 +605,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<bool>(ordered_pc_, "ordered_pc", false);
setAndGetNodeParameter<int>(max_save_images_count_, "max_save_images_count", 10);
setAndGetNodeParameter<bool>(use_hardware_time_, "use_hardware_time", false);
setAndGetNodeParameter<bool>(enable_depth_scale_, "enable_depth_scale", true);
}
void OBCameraNode::setupTopics() {
@@ -620,6 +621,7 @@ void OBCameraNode::setupPipelineConfig() {
pipeline_config_.reset();
}
pipeline_config_ = std::make_shared<ob::Config>();
pipeline_config_->setDepthScaleRequire(enable_depth_scale_);
if (depth_registration_ && enable_stream_[COLOR] && enable_stream_[DEPTH]) {
auto info = device_->getDeviceInfo();
if (info->pid() == FEMTO_BOLT_PID) {