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add sync mode

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This commit is contained in:
Joe Dong
2023-03-20 11:18:59 +08:00
parent 70ecc28dec
commit 40d097d439
4 changed files with 95 additions and 1 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+12
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@@ -339,6 +339,18 @@ class OBCameraNode {
std::atomic_bool save_colored_point_cloud_{false};
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr save_images_srv_;
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr save_point_cloud_srv_;
bool enable_soft_filter_ = true;
bool enable_color_auto_exposure_ = true;
bool enable_ir_auto_exposure_ = true;
// Only for Gemini2 device
bool enable_hardware_d2d_ = true;
std::string depth_work_mode_;
OBSyncMode sync_mode_ = OBSyncMode::OB_SYNC_MODE_CLOSE;
std::string sync_mode_str_;
int ir_trigger_signal_in_delay_ = 0;
int rgb_trigger_signal_in_delay_ = 0;
int device_trigger_signal_out_delay_ = 0;
std::string depth_precision_str_;
OB_DEPTH_PRECISION_LEVEL depth_precision_ = OB_PRECISION_0MM8;
};
} // namespace orbbec_camera
orbbec_camera/include/orbbec_camera/utils.h
+5
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@@ -50,4 +50,9 @@ rmw_qos_profile_t getRMWQosProfileFromString(const std::string& str_qos);
bool isOpenNIDevice(int pid);
OB_DEPTH_PRECISION_LEVEL depthPrecisionLevelFromString(
const std::string& depth_precision_level_str);
OBSyncMode OBSyncModeFromString(const std::string& mode);
} // namespace orbbec_camera