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[launch]Add uvc_backend params

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This commit is contained in:
jj
2024-12-18 16:10:09 +08:00
parent c9ed511f83
commit 812abe52bc
4 changed files with 13 additions and 1 deletions
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orbbec_camera/src/ob_camera_node.cpp
-1
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@@ -1160,7 +1160,6 @@ void OBCameraNode::getParameters() {
depth_aligned_frame_id_[stream_index] =
camera_name_ + "_" + stream_name_[COLOR] + "_optical_frame";
}
setAndGetNodeParameter(publish_tf_, "publish_tf", true);
setAndGetNodeParameter(tf_publish_rate_, "tf_publish_rate", 0.0);
setAndGetNodeParameter(depth_registration_, "depth_registration", false);
orbbec_camera/src/ob_camera_node_driver.cpp
+11
View File
@@ -162,6 +162,17 @@ void OBCameraNodeDriver::init() {
net_device_ip_ = declare_parameter<std::string>("net_device_ip", "");
net_device_port_ = static_cast<int>(declare_parameter<int>("net_device_port", 0));
enumerate_net_device_ = declare_parameter<bool>("enumerate_net_device", false);
uvc_backend_ = declare_parameter<std::string>("uvc_backend", "libuvc");
if(uvc_backend_=="libuvc"){
ctx_->setUvcBackendType(OB_UVC_BACKEND_TYPE_LIBUVC);
RCLCPP_INFO_STREAM(logger_, "setUvcBackendType:"<<uvc_backend_);
}else if(uvc_backend_=="v4l2"){
ctx_->setUvcBackendType(OB_UVC_BACKEND_TYPE_V4L2);
RCLCPP_INFO_STREAM(logger_, "setUvcBackendType:"<<uvc_backend_);
}else{
ctx_->setUvcBackendType(OB_UVC_BACKEND_TYPE_LIBUVC);
RCLCPP_INFO_STREAM(logger_, "setUvcBackendType:"<<uvc_backend_);
}
ctx_->enableNetDeviceEnumeration(enumerate_net_device_);
ctx_->setDeviceChangedCallback([this](const std::shared_ptr<ob::DeviceList> &removed_list,
const std::shared_ptr<ob::DeviceList> &added_list) {