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Update gemini_synced_verify.launch.py and add disaparity_to_depth_mode write condition judgment

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jj
2025-05-14 09:34:27 +08:00
parent d11bbe7c94
commit 44d90ca947
4 changed files with 153 additions and 152 deletions
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orbbec_camera/src/ob_camera_node.cpp
+17 -14
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@@ -203,20 +203,23 @@ void OBCameraNode::setupDevices() {
RCLCPP_INFO_STREAM(logger_, "Create align filter");
align_filter_ = std::make_unique<ob::Align>(align_target_stream_);
}
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_DISPARITY_TO_DEPTH_BOOL, OB_PERMISSION_READ_WRITE) &&
device_->isPropertySupported(OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL, OB_PERMISSION_READ_WRITE)) {
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"));