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fixed depth align

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This commit is contained in:
Joe Dong
2024-05-06 10:34:19 +08:00
parent cd577ceec7
commit bf807269c4
4 changed files with 61 additions and 17 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+3 -1
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@@ -283,7 +283,7 @@ class OBCameraNode {
std::shared_ptr<ob::Frame> processDepthFrameFilter(std::shared_ptr<ob::Frame>& frame);
void onNewFrameSetCallback(const std::shared_ptr<ob::FrameSet>& frame_set);
void onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set);
std::shared_ptr<ob::Frame> softwareDecodeColorFrame(const std::shared_ptr<ob::Frame>& frame);
@@ -513,5 +513,7 @@ class OBCameraNode {
double diagnostic_period_ = 1.0;
bool enable_laser_ = false;
int laser_on_off_mode_ = 0;
std::unique_ptr<ob::Align> align_filter_ = nullptr;
OBStreamType align_target_stream_ = OB_STREAM_COLOR;
};
} // namespace orbbec_camera
orbbec_camera/include/orbbec_camera/utils.h
+3 -1
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@@ -65,7 +65,7 @@ bool isOpenNIDevice(int pid);
OB_DEPTH_PRECISION_LEVEL depthPrecisionLevelFromString(
const std::string& depth_precision_level_str);
float depthPrecisionFromString(const std::string &depth_precision_level_str) ;
float depthPrecisionFromString(const std::string& depth_precision_level_str);
OBMultiDeviceSyncMode OBSyncModeFromString(const std::string& mode);
@@ -91,4 +91,6 @@ OBHoleFillingMode holeFillingModeFromString(const std::string& hole_filling_mode
bool isGemini2R(int pid);
OBStreamType obStreamTypeFromString(const std::string& stream_type);
} // namespace orbbec_camera