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add gemini2 XL launch file

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This commit is contained in:
Joe Dong
2023-09-05 17:59:19 +08:00
parent 99e1baee8d
commit 8509ccfd67
24 changed files with 248 additions and 365 deletions
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orbbec_camera/src/utils.cpp
+14 -16
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@@ -281,25 +281,23 @@ OB_DEPTH_PRECISION_LEVEL depthPrecisionLevelFromString(
return OB_PRECISION_0MM8;
}
}
OBSyncMode OBSyncModeFromString(const std::string &mode) {
if (mode == "CLOSE") {
return OBSyncMode::OB_SYNC_MODE_CLOSE;
OBMultiDeviceSyncMode OBSyncModeFromString(const std::string &mode) {
if (mode == "FREE_RUN") {
return OBMultiDeviceSyncMode::OB_MULTI_DEVICE_SYNC_MODE_FREE_RUN;
} else if (mode == "STANDALONE") {
return OBSyncMode::OB_SYNC_MODE_STANDALONE;
return OBMultiDeviceSyncMode::OB_MULTI_DEVICE_SYNC_MODE_STANDALONE;
} else if (mode == "PRIMARY") {
return OBMultiDeviceSyncMode::OB_MULTI_DEVICE_SYNC_MODE_PRIMARY;
} 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;
return OBMultiDeviceSyncMode::OB_MULTI_DEVICE_SYNC_MODE_SECONDARY;
} else if (mode == "SECONDARY_SYNCED") {
return OBMultiDeviceSyncMode::OB_MULTI_DEVICE_SYNC_MODE_SECONDARY_SYNCED;
} else if (mode == "SOFTWARE_TRIGGERING") {
return OBMultiDeviceSyncMode::OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_TRIGGERING;
} else if (mode == "HARDWARE_TRIGGERING") {
return OBMultiDeviceSyncMode::OB_MULTI_DEVICE_SYNC_MODE_HARDWARE_TRIGGERING;
} else {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("utils"), "Unknown OBSyncMode: " << mode);
return OBSyncMode::OB_SYNC_MODE_CLOSE;
return OBMultiDeviceSyncMode::OB_MULTI_DEVICE_SYNC_MODE_FREE_RUN;
}
}