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Fix the issue that disparity_offset_config cannot be turned off

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jj
2025-02-11 10:29:16 +08:00
parent 4cfa72a4d8
commit 141bebb7ac
1 changed files with 3 additions and 4 deletions
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orbbec_camera/src/ob_camera_node.cpp
+3 -4
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@@ -1902,13 +1902,12 @@ void OBCameraNode::setDisparitySearchOffset() {
return;
}
if (device_->isPropertySupported(OB_PROP_DISP_SEARCH_OFFSET_INT, OB_PERMISSION_WRITE)) {
if (disparity_search_offset_ >= 0 && disparity_search_offset_ <= 127 &&
disparity_offset_config_ == false) {
if (disparity_search_offset_ >= 0 && disparity_search_offset_ <= 127) {
device_->setIntProperty(OB_PROP_DISP_SEARCH_OFFSET_INT, disparity_search_offset_);
RCLCPP_INFO_STREAM(logger_, "disparity_search_offset: " << disparity_search_offset_);
}
if (disparity_offset_config_ == true && offset_index0_ >= 0 && offset_index0_ <= 127 &&
offset_index1_ >= 0 && offset_index1_ <= 127) {
if (offset_index0_ >= 0 && offset_index0_ <= 127 && offset_index1_ >= 0 &&
offset_index1_ <= 127) {
auto config = OBDispOffsetConfig();
config.enable = disparity_offset_config_;
config.offset0 = offset_index0_;