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Print log output for gemini2 D2D and depth accuracy information.

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This commit is contained in:
lixiaobin
2024-01-02 10:06:15 +08:00
parent 62157b82a0
commit 8682e442f4
1 changed files with 10 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
+10
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@@ -133,6 +133,13 @@ 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 isDISPARITY = device_->getBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL);
if(isDISPARITY == false) {
RCLCPP_INFO_STREAM(logger_, "Depth process is soft D2D.");
}
else {
RCLCPP_INFO_STREAM(logger_, "Depth process is HW D2D.");
}
}
try {
if (!depth_work_mode_.empty()) {
@@ -153,6 +160,9 @@ void OBCameraNode::setupDevices() {
if (default_precision_level != depth_precision_) {
device_->setIntProperty(OB_PROP_DEPTH_PRECISION_LEVEL_INT, depth_precision_);
}
int32_t PRECISION_LEVEL = device_->getIntProperty(OB_PROP_DEPTH_PRECISION_LEVEL_INT);
RCLCPP_INFO_STREAM(logger_, "Depth precision level:" << PRECISION_LEVEL);
}
for (const auto &stream_index : IMAGE_STREAMS) {