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Update launch file and device rules

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This commit is contained in:
Joe Dong
2024-04-13 16:45:02 +08:00
parent 86f8909212
commit 795e432531
3 changed files with 10 additions and 37 deletions
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orbbec_camera/src/ob_camera_node.cpp
+10 -19
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@@ -133,16 +133,14 @@ void OBCameraNode::setupDevices() {
}
}
auto info = device_->getDeviceInfo();
if (enable_hardware_d2d_ && info->pid() == GEMINI2_PID) {
device_->setBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL, true);
bool isHWD2D = device_->getBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL);
if (isHWD2D == false) {
RCLCPP_INFO_STREAM(logger_, "Depth process is soft D2D.");
} else {
RCLCPP_INFO_STREAM(logger_, "Depth process is HW D2D.");
}
}
try {
if (enable_hardware_d2d_ &&
device_->isPropertySupported(OB_PROP_DISPARITY_TO_DEPTH_BOOL, OB_PERMISSION_READ_WRITE)) {
device_->setBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL, true);
bool is_hardware_d2d = device_->getBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL);
std::string d2d_mode = is_hardware_d2d ? "HW D2D" : "SW D2D";
RCLCPP_INFO_STREAM(logger_, "Depth process is " << d2d_mode);
}
device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, enable_laser_);
device_->loadPreset(device_preset_.c_str());
auto depth_sensor = device_->getSensor(OB_SENSOR_DEPTH);
@@ -750,16 +748,9 @@ void OBCameraNode::setupPipelineConfig() {
pipeline_config_ = std::make_shared<ob::Config>();
pipeline_config_->setDepthScaleRequire(enable_depth_scale_);
if (depth_registration_ && enable_stream_[COLOR] && enable_stream_[DEPTH]) {
auto info = device_->getDeviceInfo();
auto pid = info->pid();
if (pid == FEMTO_BOLT_PID || pid == GEMINI2R_PID || pid == GEMINI2RL_PID) {
RCLCPP_INFO_STREAM(logger_, "set align mode ALIGN_D2C_SW_MODE.");
pipeline_config_->setAlignMode(ALIGN_D2C_SW_MODE);
} else {
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;
pipeline_config_->setAlignMode(align_mode);
}
RCLCPP_INFO_STREAM(logger_, "===set align mode to =====" << align_mode_);
OBAlignMode align_mode = align_mode_ == "HW" ? ALIGN_D2C_HW_MODE : ALIGN_D2C_SW_MODE;
pipeline_config_->setAlignMode(align_mode);
}
for (const auto &stream_index : IMAGE_STREAMS) {
if (enable_stream_[stream_index]) {