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Fix the problem that the Femto series cannot set sync_mode

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jj
2024-11-29 10:33:36 +08:00
parent 8ddfe70888
commit 6466fc84cb
1 changed files with 4 additions and 5 deletions
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orbbec_camera/src/ob_camera_node.cpp
+4 -5
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@@ -219,11 +219,11 @@ void OBCameraNode::setupDevices() {
} }
if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) { if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting G300 laser control to " << enable_laser_); RCLCPP_INFO_STREAM(logger_, "Setting G300 laser control to " << enable_laser_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_CONTROL_INT, enable_laser_); TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_CONTROL_INT, enable_laser_);
} }
if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) { if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting laser control to " << enable_laser_); RCLCPP_INFO_STREAM(logger_, "Setting laser control to " << enable_laser_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_BOOL, enable_laser_); TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_BOOL, enable_laser_);
} }
if (device_->isPropertySupported(OB_PROP_LASER_ON_OFF_MODE_INT, OB_PERMISSION_READ_WRITE)) { if (device_->isPropertySupported(OB_PROP_LASER_ON_OFF_MODE_INT, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting laser on off mode to " << laser_on_off_mode_); RCLCPP_INFO_STREAM(logger_, "Setting laser on off mode to " << laser_on_off_mode_);
@@ -251,8 +251,7 @@ TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_BOOL, enable_laser_);
RCLCPP_INFO_STREAM(logger_, "Set depth work mode: " << depth_work_mode_); RCLCPP_INFO_STREAM(logger_, "Set depth work mode: " << depth_work_mode_);
TRY_EXECUTE_BLOCK(device_->switchDepthWorkMode(depth_work_mode_.c_str())); TRY_EXECUTE_BLOCK(device_->switchDepthWorkMode(depth_work_mode_.c_str()));
} }
if (!sync_mode_str_.empty() && device_->isPropertySupported(OB_PROP_SYNC_SIGNAL_TRIGGER_OUT_BOOL, if (!sync_mode_str_.empty()) {
OB_PERMISSION_READ_WRITE)) {
auto sync_config = device_->getMultiDeviceSyncConfig(); auto sync_config = device_->getMultiDeviceSyncConfig();
RCLCPP_INFO_STREAM(logger_, RCLCPP_INFO_STREAM(logger_,
"Current sync mode: " << magic_enum::enum_name(sync_config.syncMode)); "Current sync mode: " << magic_enum::enum_name(sync_config.syncMode));