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add info message when depth_registration is enabled

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obyalian
2025-09-25 11:38:19 +08:00
parent 1680236780
commit bb117e74f9
1 changed files with 7 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
+7
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@@ -2164,6 +2164,13 @@ void OBCameraNode::setupPipelineConfig() {
pipeline_config_->enableStream(stream_profile_[stream_index]);
}
}
if (enable_stream_[DEPTH] && depth_registration_) {
auto profile = stream_profile_[COLOR]->as<ob::VideoStreamProfile>();
RCLCPP_INFO_STREAM(logger_, "depth_registration is enabled. "
<< "Depth stream will be aligned to COLOR stream resolution:"
<< " width: " << profile->getWidth() << " height: "
<< profile->getHeight() << " fps: " << profile->getFps());
}
if (frame_aggregate_mode_ == "full_frame") {
pipeline_config_->setFrameAggregateOutputMode(OB_FRAME_AGGREGATE_OUTPUT_FULL_FRAME_REQUIRE);