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Add more debug info

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This commit is contained in:
Joe Dong
2024-03-27 16:59:21 +08:00
parent 3a48a191aa
commit 3a31487885
1 changed files with 9 additions and 3 deletions
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orbbec_camera/src/ob_camera_node.cpp
+9 -3
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@@ -142,8 +142,14 @@ void OBCameraNode::setupDevices() {
} }
} }
try { try {
if (!depth_work_mode_.empty()) { if (!depth_work_mode_.empty() &&
device_->isPropertySupported(OB_STRUCT_CURRENT_DEPTH_ALG_MODE, OB_PERMISSION_READ_WRITE)) {
auto current_depth_mode = device_->getCurrentDepthWorkMode();
RCLCPP_INFO_STREAM(logger_, "Depth work mode before switch: " << current_depth_mode.name);
RCLCPP_INFO_STREAM(logger_, "Switch depth work mode to: " << depth_work_mode_);
device_->switchDepthWorkMode(depth_work_mode_.c_str()); device_->switchDepthWorkMode(depth_work_mode_.c_str());
current_depth_mode = device_->getCurrentDepthWorkMode();
RCLCPP_INFO_STREAM(logger_, "Current depth work mode: " << current_depth_mode.name);
} }
if (sync_mode_ != OB_MULTI_DEVICE_SYNC_MODE_FREE_RUN) { if (sync_mode_ != OB_MULTI_DEVICE_SYNC_MODE_FREE_RUN) {
auto sync_config = device_->getMultiDeviceSyncConfig(); auto sync_config = device_->getMultiDeviceSyncConfig();
@@ -612,7 +618,7 @@ void OBCameraNode::getParameters() {
if (is_openni_device_) { if (is_openni_device_) {
RCLCPP_INFO_STREAM(logger_, "OpenNI device detected."); RCLCPP_INFO_STREAM(logger_, "OpenNI device detected.");
use_hardware_time_ = false; use_hardware_time_ = false;
}else { } else {
use_hardware_time_ = true; use_hardware_time_ = true;
} }
} }
@@ -638,7 +644,7 @@ void OBCameraNode::setupPipelineConfig() {
pipeline_config_->setAlignMode(ALIGN_D2C_SW_MODE); pipeline_config_->setAlignMode(ALIGN_D2C_SW_MODE);
} else { } else {
RCLCPP_INFO_STREAM(logger_, "set align mode ALIGN_D2C_HW_MODE."); RCLCPP_INFO_STREAM(logger_, "set align mode ALIGN_D2C_HW_MODE.");
OBAlignMode align_mode = align_mode_ == "HW"? ALIGN_D2C_HW_MODE : ALIGN_D2C_SW_MODE; OBAlignMode align_mode = align_mode_ == "HW" ? ALIGN_D2C_HW_MODE : ALIGN_D2C_SW_MODE;
pipeline_config_->setAlignMode(align_mode); pipeline_config_->setAlignMode(align_mode);
} }
} }