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Update setupPipelineConfig: put set depth scale out

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This commit is contained in:
Joe Dong
2024-05-30 09:48:45 +08:00
parent ff756ad7c6
commit ef2e297aa5
1 changed files with 2 additions and 2 deletions
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orbbec_camera/src/ob_camera_node.cpp
+2 -2
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@@ -947,13 +947,13 @@ void OBCameraNode::setupPipelineConfig() {
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info.get());
auto pid = device_info->pid();
RCLCPP_INFO_STREAM(logger_, "enable depth scale " << (enable_depth_scale_ ? "ON" : "OFF"));
pipeline_config_->setDepthScaleRequire(enable_depth_scale_);
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));
pipeline_config_->setAlignMode(align_mode);
RCLCPP_INFO_STREAM(logger_, "enable depth scale " << (enable_depth_scale_ ? "ON" : "OFF"));
pipeline_config_->setDepthScaleRequire(enable_depth_scale_);
}
for (const auto &stream_index : IMAGE_STREAMS) {
if (enable_stream_[stream_index]) {