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Resolving the Femto Bolt D2C point cloud issue.

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This commit is contained in:
lixiaobin
2023-10-12 15:56:55 +08:00
parent 0f9de4b300
commit 9b291f081f
2 changed files with 8 additions and 1 deletions
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orbbec_camera/src/ob_camera_node.cpp
+7 -1
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@@ -466,7 +466,13 @@ void OBCameraNode::setupPipelineConfig() {
}
pipeline_config_ = std::make_shared<ob::Config>();
if (depth_registration_ && enable_stream_[COLOR] && enable_stream_[DEPTH]) {
pipeline_config_->setAlignMode(ALIGN_D2C_HW_MODE);
if (device_info_->pid() == FEMTO_BOLT_PID) {
RCLCPP_INFO_STREAM(logger_, "set align mode ALIGN_D2C_SW_MODE.");
pipeline_config_->setAlignMode(ALIGN_D2C_SW_MODE);
} else {
RCLCPP_INFO_STREAM(logger_, "set align mode ALIGN_D2C_HW_MODE.");
pipeline_config_->setAlignMode(ALIGN_D2C_HW_MODE);
}
}
for (const auto &stream_index : IMAGE_STREAMS) {
if (enable_stream_[stream_index]) {