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Replace enable_hardware_d2d param with disaparity_to_depth_mode

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jj
2025-05-13 18:13:41 +08:00
parent 1b62e59c9b
commit 39e55c27b1
11 changed files with 1998 additions and 1725 deletions
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orbbec_camera/src/ob_camera_node.cpp
+15 -6
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@@ -203,11 +203,20 @@ void OBCameraNode::setupDevices() {
RCLCPP_INFO_STREAM(logger_, "Create align filter");
align_filter_ = std::make_unique<ob::Align>(align_target_stream_);
}
if (device_->isPropertySupported(OB_PROP_DISPARITY_TO_DEPTH_BOOL, OB_PERMISSION_READ_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_DISPARITY_TO_DEPTH_BOOL, enable_hardware_d2d_);
bool is_hardware_d2d = device_->getBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL);
std::string d2d_mode = is_hardware_d2d ? "HW D2D" : "SW D2D";
RCLCPP_INFO_STREAM(logger_, "Depth process is " << d2d_mode);
if (disaparity_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") {
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") {
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");
} else {
RCLCPP_ERROR_STREAM(logger_, "Depth process is keep default");
}
if (device_->isPropertySupported(OB_PROP_LDP_BOOL, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting LDP to " << (enable_ldp_ ? "ON" : "OFF"));
@@ -1560,7 +1569,7 @@ 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<bool>(enable_hardware_d2d_, "enable_hardware_d2d", true);
setAndGetNodeParameter<std::string>(disaparity_to_depth_mode_, "disaparity_to_depth_mode", "HW");
setAndGetNodeParameter<std::string>(depth_filter_config_, "depth_filter_config", "");
if (!depth_filter_config_.empty()) {
enable_depth_filter_ = true;