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fix: limit unaligned depth topic to software D2C

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slz
2026-09-07 17:19:37 +08:00
parent 9960d22a32
commit c28fcb9052
1 changed files with 5 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
+5
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@@ -5792,6 +5792,11 @@ void OBCameraNode::syncSoftwareAlignment() {
align_filter_ = std::make_unique<ob::Align>(align_target_stream_); align_filter_ = std::make_unique<ob::Align>(align_target_stream_);
RCLCPP_INFO_STREAM(logger_, "set align mode to " << align_mode_); RCLCPP_INFO_STREAM(logger_, "set align mode to " << align_mode_);
} }
if (align_target_stream_ != OB_STREAM_COLOR) {
releaseGlobalImageTransportPublisher(*node_, "depth/image_unaligned");
depth_unaligned_publisher_.reset();
return;
}
if (!depth_unaligned_publisher_) { if (!depth_unaligned_publisher_) {
const auto depth_image_qos_profile = getImageQosProfile(DEPTH); const auto depth_image_qos_profile = getImageQosProfile(DEPTH);
if (use_intra_process_) { if (use_intra_process_) {