Publish aligned ToF output on v3 jazzy - #787
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Pull request overview
This PR updates the ToF sensor node publishing path so that, when alignment is enabled, the published ToF image stream and associated metadata (frame/socket, dimensions) correspond to the aligned output rather than the raw ToF depth output.
Changes:
- Delay
setInOut()until after optionalImageAlignnode creation so aligned publishing can be wired correctly. - Publish
alignNode->outputAlignedinstead oftofNode->depthwheni_alignedis enabled. - Configure the publisher’s socket/frame and width/height based on the alignment target.
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| auto pubSocket = aligned ? getAlignedSocketID() : boardSocket; | ||
| auto tfPrefix = getOpticalFrameName(getSocketName(pubSocket)); | ||
| auto pubWidth = ph->getParam<int>(ParamNames::WIDTH); | ||
| auto pubHeight = ph->getParam<int>(ParamNames::HEIGHT); | ||
| if(aligned) { | ||
| auto alignedSocketName = getSocketName(pubSocket); | ||
| pubWidth = ph->getOtherNodeParam<int>(alignedSocketName, ParamNames::WIDTH); | ||
| pubHeight = ph->getOtherNodeParam<int>(alignedSocketName, ParamNames::HEIGHT); | ||
| } |
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