add list depth work mode

orbbec_camera/CMakeLists.txt

@@ -194,6 +194,33 @@ ament_target_dependencies(ob_cleanup_shm_node
   ${dependencies}
   )
 
+add_executable(list_depth_work_mode_node
+  src/list_depth_work_mode.cpp
+  )
+
+target_include_directories(list_depth_work_mode_node PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+  ${ORBBEC_INCLUDE_DIR}
+  ${OpenCV_INCLUDED_DIRS}
+  ${GLOG_INCLUDED_DIRS}
+  )
+
+target_link_libraries(list_depth_work_mode_node
+  ${ORBBEC_SDK_LIBRARIES}
+  ${OpenCV_LIBS}
+  Eigen3::Eigen
+  ${GLOG_LIBRARIES}
+  -lOrbbecSDK
+  -L${ORBBEC_LIBS}
+  ${PROJECT_NAME}
+  )
+
+ament_target_dependencies(list_depth_work_mode_node
+  ${dependencies}
+  )
+
 install(TARGETS ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
@@ -230,6 +257,7 @@ install(DIRECTORY
 
 install(TARGETS list_devices_node
   ob_cleanup_shm_node
+  list_depth_work_mode_node
   ${PROJECT_NAME}_node
   DESTINATION lib/${PROJECT_NAME}/
   )

orbbec_camera/src/list_depth_work_mode.cpp

@@ -0,0 +1,22 @@
+#include <orbbec_camera/ob_camera_node.h>
+
+int main() {
+  std::shared_ptr<ob::Pipeline> pipeline = std::make_shared<ob::Pipeline>();
+  auto device = pipeline->getDevice();
+  if (!device) {
+    std::cout << "No device found" << std::endl;
+    return -1;
+  }
+  if (!device->isPropertySupported(OB_STRUCT_CURRENT_DEPTH_ALG_MODE, OB_PERMISSION_READ_WRITE)) {
+    std::cout << "Current device not support depth work mode!" << std::endl;
+    return -1;
+  }
+  auto depthModeList = device->getDepthWorkModeList();
+  std::cout << "depth mode list: " << std::endl;
+  for (uint32_t i = 0; i < depthModeList->count(); i++) {
+    std::cout << "depthModeList[" << i << "]: " << (*depthModeList)[i].name;
+
+    std::cout << std::endl;
+  }
+  return 0;
+}