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fix: remove redundant alignment mode setup in setupPipelineConfig

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This commit is contained in:
ob-yalian
2025-12-29 09:59:22 +08:00
parent eafd7d21e4
commit cbd654a920
1 changed files with 0 additions and 9 deletions
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orbbec_camera/src/ob_camera_node.cpp
-9
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@@ -2235,15 +2235,6 @@ void OBCameraNode::setupPipelineConfig() {
pipeline_config_->enableStream(stream_profile_[stream_index]); pipeline_config_->enableStream(stream_profile_[stream_index]);
} }
} }
if (depth_registration_ && enable_stream_[COLOR] && enable_stream_[DEPTH] &&
!isGemini335PID(pid)) {
OBAlignMode align_mode = align_mode_ == "HW" ? ALIGN_D2C_HW_MODE : ALIGN_D2C_SW_MODE;
RCLCPP_INFO_STREAM(logger_, "set align mode to " << magic_enum::enum_name(align_mode));
TRY_EXECUTE_BLOCK(calibration_param_ = pipeline_->getCalibrationParam(pipeline_config_));
TRY_EXECUTE_BLOCK(pipeline_config_->setAlignMode(align_mode));
RCLCPP_INFO_STREAM(logger_, "enable depth scale " << (enable_depth_scale_ ? "ON" : "OFF"));
TRY_EXECUTE_BLOCK(pipeline_config_->setDepthScaleRequire(enable_depth_scale_));
}
if (enable_stream_[DEPTH] && depth_registration_) { if (enable_stream_[DEPTH] && depth_registration_) {
auto profile = stream_profile_[COLOR]->as<ob::VideoStreamProfile>(); auto profile = stream_profile_[COLOR]->as<ob::VideoStreamProfile>();
RCLCPP_INFO_STREAM(logger_, "depth_registration is enabled. " RCLCPP_INFO_STREAM(logger_, "depth_registration is enabled. "