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fix: correct spelling of 'disparity_to_depth_mode' in configuration and launch files

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obyalian
2025-09-11 13:58:56 +08:00
parent 4586c4ef18
commit 1884fe377a
16 changed files with 19 additions and 19 deletions
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orbbec_camera/src/ob_camera_node.cpp
+4 -4
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@@ -273,15 +273,15 @@ void OBCameraNode::setupDevices() {
}
if (device_->isPropertySupported(OB_PROP_DISPARITY_TO_DEPTH_BOOL, OB_PERMISSION_READ_WRITE) &&
device_->isPropertySupported(OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL, OB_PERMISSION_READ_WRITE)) {
if (disaparity_to_depth_mode_ == "HW") {
if (disparity_to_depth_mode_ == "HW") {
device_->setBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL, 1);
device_->setBoolProperty(OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL, 0);
RCLCPP_INFO_STREAM(logger_, "Depth process is HW");
} else if (disaparity_to_depth_mode_ == "SW") {
} else if (disparity_to_depth_mode_ == "SW") {
device_->setBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL, 0);
device_->setBoolProperty(OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL, 1);
RCLCPP_INFO_STREAM(logger_, "Depth process is SW");
} else if (disaparity_to_depth_mode_ == "disable") {
} else if (disparity_to_depth_mode_ == "disable") {
device_->setBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL, 0);
device_->setBoolProperty(OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL, 0);
RCLCPP_INFO_STREAM(logger_, "Depth process is disable");
@@ -1754,7 +1754,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<bool>(enable_point_cloud_, "enable_point_cloud", false);
setAndGetNodeParameter<std::string>(point_cloud_qos_, "point_cloud_qos", "default");
setAndGetNodeParameter<bool>(enable_d2c_viewer_, "enable_d2c_viewer", false);
setAndGetNodeParameter<std::string>(disaparity_to_depth_mode_, "disaparity_to_depth_mode", "HW");
setAndGetNodeParameter<std::string>(disparity_to_depth_mode_, "disparity_to_depth_mode", "HW");
setAndGetNodeParameter<std::string>(depth_filter_config_, "depth_filter_config", "");
if (!depth_filter_config_.empty()) {
enable_depth_filter_ = true;