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chore: spacial case point cloud handle for dabai max

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Joe Dong
2024-09-09 14:25:21 +08:00
parent 3cd3a7fdd3
commit ae8df6e904
2 changed files with 5 additions and 1 deletions
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orbbec_camera/include/orbbec_camera/constants.h
+1
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@@ -128,5 +128,6 @@ const int32_t GEMINI_335LG_PID = 0x080B; // Gemini 336Lg
const int32_t GEMINI_336LG_PID = 0x080D; const int32_t GEMINI_336LG_PID = 0x080D;
const int32_t GEMINI_335LE_PID = 0x080E; // Gemini 335Le const int32_t GEMINI_335LE_PID = 0x080E; // Gemini 335Le
const int32_t GEMINI_336LE_PID = 0x0810; // Gemini 335Le const int32_t GEMINI_336LE_PID = 0x0810; // Gemini 335Le
const int32_t DABAI_MAX_PID = 0x069a; // dabai max
} // namespace orbbec_camera } // namespace orbbec_camera
orbbec_camera/src/ob_camera_node.cpp
+4 -1
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@@ -1366,7 +1366,10 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &f
} }
CHECK_NOTNULL(pipeline_); CHECK_NOTNULL(pipeline_);
auto camera_params = pipeline_->getCameraParam(); auto camera_params = pipeline_->getCameraParam();
if (depth_registration_) { auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info.get());
auto pid = device_info->pid();
if (depth_registration_ || pid == DABAI_MAX_PID) {
camera_params.depthIntrinsic = camera_params.rgbIntrinsic; camera_params.depthIntrinsic = camera_params.rgbIntrinsic;
} }
depth_point_cloud_filter_.setCameraParam(camera_params); depth_point_cloud_filter_.setCameraParam(camera_params);