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Fix disparity_search_offset and offset_index valid range check

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zhuangzi
2025-01-21 17:32:59 +08:00
parent 29a4d503f1
commit 31da628497
1 changed files with 4 additions and 2 deletions
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orbbec_camera/src/ob_camera_node.cpp
+4 -2
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@@ -1880,11 +1880,13 @@ void OBCameraNode::setDisparitySearchOffset() {
return;
}
if (device_->isPropertySupported(OB_PROP_DISP_SEARCH_OFFSET_INT, OB_PERMISSION_WRITE)) {
if (disparity_search_offset_ != -1) {
if (disparity_search_offset_ >= 0 && disparity_search_offset_ <= 127 &&
disparity_offset_config_ == false) {
device_->setIntProperty(OB_PROP_DISP_SEARCH_OFFSET_INT, disparity_search_offset_);
RCLCPP_INFO_STREAM(logger_, "disparity_search_offset: " << disparity_search_offset_);
}
if (offset_index0_ != -1 && offset_index1_ != -1) {
if (disparity_offset_config_ == true && offset_index0_ >= 0 && offset_index0_ <= 127 &&
offset_index1_ >= 0 && offset_index1_ <= 127) {
auto config = OBDispOffsetConfig();
config.enable = disparity_offset_config_;
config.offset0 = offset_index0_;