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fixed warning

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This commit is contained in:
Joe Dong
2024-05-06 15:39:18 +08:00
parent 6220d632db
commit 1670b7a3ac
1 changed files with 10 additions and 4 deletions
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orbbec_camera/src/ob_camera_node.cpp
+10 -4
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@@ -144,9 +144,15 @@ void OBCameraNode::setupDevices() {
std::string d2d_mode = is_hardware_d2d ? "HW D2D" : "SW D2D"; std::string d2d_mode = is_hardware_d2d ? "HW D2D" : "SW D2D";
RCLCPP_INFO_STREAM(logger_, "Depth process is " << d2d_mode); RCLCPP_INFO_STREAM(logger_, "Depth process is " << d2d_mode);
} }
device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, enable_laser_); if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
device_->setIntProperty(OB_PROP_LASER_ON_OFF_MODE_INT, laser_on_off_mode_); device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, enable_laser_);
device_->loadPreset(device_preset_.c_str()); }
if (device_->isPropertySupported(OB_PROP_LASER_ON_OFF_MODE_INT, OB_PERMISSION_READ_WRITE)) {
device_->setIntProperty(OB_PROP_LASER_ON_OFF_MODE_INT, laser_on_off_mode_);
}
if (!device_preset_.empty()) {
device_->loadPreset(device_preset_.c_str());
}
auto depth_sensor = device_->getSensor(OB_SENSOR_DEPTH); auto depth_sensor = device_->getSensor(OB_SENSOR_DEPTH);
// set depth sensor to filter // set depth sensor to filter
auto filter_list = depth_sensor->getRecommendedFilters(); auto filter_list = depth_sensor->getRecommendedFilters();
@@ -706,7 +712,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(max_save_images_count_, "max_save_images_count", 10); setAndGetNodeParameter<int>(max_save_images_count_, "max_save_images_count", 10);
setAndGetNodeParameter<bool>(use_hardware_time_, "use_hardware_time", true); setAndGetNodeParameter<bool>(use_hardware_time_, "use_hardware_time", true);
setAndGetNodeParameter<bool>(enable_depth_scale_, "enable_depth_scale", true); setAndGetNodeParameter<bool>(enable_depth_scale_, "enable_depth_scale", true);
setAndGetNodeParameter<std::string>(device_preset_, "device_preset", "Default"); setAndGetNodeParameter<std::string>(device_preset_, "device_preset", "");
setAndGetNodeParameter<bool>(enable_decimation_filter_, "enable_decimation_filter", false); setAndGetNodeParameter<bool>(enable_decimation_filter_, "enable_decimation_filter", false);
setAndGetNodeParameter<bool>(enable_hdr_merge_, "enable_hdr_merge", false); setAndGetNodeParameter<bool>(enable_hdr_merge_, "enable_hdr_merge", false);
setAndGetNodeParameter<bool>(enable_sequence_id_filter_, "enable_sequence_id_filter", false); setAndGetNodeParameter<bool>(enable_sequence_id_filter_, "enable_sequence_id_filter", false);