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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/include/orbbec_camera/ob_camera_node.h
+1
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@@ -449,5 +449,6 @@ class OBCameraNode {
bool ordered_pc_ = false; bool ordered_pc_ = false;
bool use_hardware_time_ = false; bool use_hardware_time_ = false;
bool enable_depth_scale_ = true;
}; };
} // namespace orbbec_camera } // namespace orbbec_camera
orbbec_camera/launch/femto_bolt.launch.py
+1
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@@ -77,6 +77,7 @@ def generate_launch_description():
DeclareLaunchArgument('trigger_out_enabled', default_value='false'), DeclareLaunchArgument('trigger_out_enabled', default_value='false'),
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'),
] ]
# Node configuration # Node configuration
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<bool>(ordered_pc_, "ordered_pc", false);
setAndGetNodeParameter<int>(max_save_images_count_, "max_save_images_count", 10); setAndGetNodeParameter<int>(max_save_images_count_, "max_save_images_count", 10);
setAndGetNodeParameter<bool>(use_hardware_time_, "use_hardware_time", false); setAndGetNodeParameter<bool>(use_hardware_time_, "use_hardware_time", false);
setAndGetNodeParameter<bool>(enable_depth_scale_, "enable_depth_scale", true);
} }
void OBCameraNode::setupTopics() { void OBCameraNode::setupTopics() {
@@ -620,6 +621,7 @@ void OBCameraNode::setupPipelineConfig() {
pipeline_config_.reset(); pipeline_config_.reset();
} }
pipeline_config_ = std::make_shared<ob::Config>(); pipeline_config_ = std::make_shared<ob::Config>();
pipeline_config_->setDepthScaleRequire(enable_depth_scale_);
if (depth_registration_ && enable_stream_[COLOR] && enable_stream_[DEPTH]) { if (depth_registration_ && enable_stream_[COLOR] && enable_stream_[DEPTH]) {
auto info = device_->getDeviceInfo(); auto info = device_->getDeviceInfo();
if (info->pid() == FEMTO_BOLT_PID) { if (info->pid() == FEMTO_BOLT_PID) {