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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/src/utils.cpp
+38
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@@ -264,4 +264,42 @@ bool isOpenNIDevice(int pid) {
return false;
}
OB_DEPTH_PRECISION_LEVEL depthPrecisionLevelFromString(
const std::string &depth_precision_level_str) {
if (depth_precision_level_str == "1mm") {
return OB_PRECISION_1MM;
} else if (depth_precision_level_str == "0.8mm") {
return OB_PRECISION_0MM8;
} else if (depth_precision_level_str == "0.4mm") {
return OB_PRECISION_0MM4;
} else if (depth_precision_level_str == "0.2mm") {
return OB_PRECISION_0MM2;
} else if (depth_precision_level_str == "0.1mm") {
return OB_PRECISION_0MM1;
} else {
return OB_PRECISION_0MM8;
}
}
OBSyncMode OBSyncModeFromString(const std::string &mode) {
if (mode == "CLOSE") {
return OBSyncMode::OB_SYNC_MODE_CLOSE;
} else if (mode == "STANDALONE") {
return OBSyncMode::OB_SYNC_MODE_STANDALONE;
} else if (mode == "SECONDARY") {
return OBSyncMode::OB_SYNC_MODE_SECONDARY;
} else if (mode == "PRIMARY_MCU_TRIGGER") {
return OBSyncMode::OB_SYNC_MODE_PRIMARY_MCU_TRIGGER;
} else if (mode == "PRIMARY_IR_TRIGGER") {
return OBSyncMode::OB_SYNC_MODE_PRIMARY_IR_TRIGGER;
} else if (mode == "PRIMARY_SOFT_TRIGGER") {
return OBSyncMode::OB_SYNC_MODE_PRIMARY_SOFT_TRIGGER;
} else if (mode == "SECONDARY_SOFT_TRIGGER") {
return OBSyncMode::OB_SYNC_MODE_SECONDARY_SOFT_TRIGGER;
} else {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("utils"), "Unknown OBSyncMode: " << mode);
return OBSyncMode::OB_SYNC_MODE_CLOSE;
}
}
} // namespace orbbec_camera