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add align mode

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This commit is contained in:
Joe Dong
2024-03-25 18:02:33 +08:00
parent 982b60cebd
commit f6e03b308e
31 changed files with 34 additions and 1 deletions
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orbbec_camera/src/ob_camera_node.cpp
+3 -1
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@@ -606,6 +606,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(max_save_images_count_, "max_save_images_count", 10);
setAndGetNodeParameter<bool>(use_hardware_time_, "use_hardware_time", false);
setAndGetNodeParameter<bool>(enable_depth_scale_, "enable_depth_scale", true);
setAndGetNodeParameter<std::string>(align_mode_, "align_mode", "HW");
auto info = device_->getDeviceInfo();
is_openni_device_ = isOpenNIDevice(info->pid());
if (is_openni_device_) {
@@ -637,7 +638,8 @@ void OBCameraNode::setupPipelineConfig() {
pipeline_config_->setAlignMode(ALIGN_D2C_SW_MODE);
} else {
RCLCPP_INFO_STREAM(logger_, "set align mode ALIGN_D2C_HW_MODE.");
pipeline_config_->setAlignMode(ALIGN_D2C_HW_MODE);
OBAlignMode align_mode = align_mode_ == "HW"? ALIGN_D2C_HW_MODE : ALIGN_D2C_SW_MODE;
pipeline_config_->setAlignMode(align_mode);
}
}
for (const auto &stream_index : IMAGE_STREAMS) {