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Fix PWM trigger error handling and add warning for incompatible parameters

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This commit is contained in:
ob-yalian
2026-08-22 19:02:37 +08:00
parent cee38ebf5e
commit 90424271d5
1 changed files with 10 additions and 2 deletions
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orbbec_camera/src/ob_camera_node.cpp
+10 -2
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@@ -4366,14 +4366,14 @@ int OBCameraNode::openSocSyncPwmTrigger(uint16_t fps) {
ret = write(gmsl_trigger_fd_, &param, sizeof(param)); ret = write(gmsl_trigger_fd_, &param, sizeof(param));
if (ret < 0) { if (ret < 0) {
perror("write device failed\n"); perror("write device failed\n");
close(gmsl_trigger_fd_); closeSocSyncPwmTrigger();
return ret; return ret;
} }
ret = read(gmsl_trigger_fd_, &rd_par, sizeof(rd_par)); ret = read(gmsl_trigger_fd_, &rd_par, sizeof(rd_par));
if (ret < 0) { if (ret < 0) {
perror("read device failed\n"); perror("read device failed\n");
close(gmsl_trigger_fd_); closeSocSyncPwmTrigger();
return ret; return ret;
} }
std::cout << "Read param mode=" << rd_par.mode << ", fps=" << rd_par.fps << std::endl; std::cout << "Read param mode=" << rd_par.mode << ", fps=" << rd_par.fps << std::endl;
@@ -4563,6 +4563,14 @@ void OBCameraNode::getParameters() {
colorizer_mode_ = normalizeClosedSetParameterValue( colorizer_mode_ = normalizeClosedSetParameterValue(
logger_, "depth_colorizer_mode", colorizer_mode_, {"none", "jet", "jet_inv", "gray"}, "none"); logger_, "depth_colorizer_mode", colorizer_mode_, {"none", "jet", "jet_inv", "gray"}, "none");
setAndGetNodeParameter<bool>(enable_d2c_viewer_, "enable_d2c_viewer", false); setAndGetNodeParameter<bool>(enable_d2c_viewer_, "enable_d2c_viewer", false);
if (enable_d2c_viewer_ && colorizer_mode_ != "none") {
RCLCPP_WARN_STREAM(
logger_,
"enable_d2c_viewer requires a raw 16UC1 depth image and is incompatible with "
"depth_colorizer_mode='"
<< colorizer_mode_ << "'. Disabling enable_d2c_viewer.");
enable_d2c_viewer_ = false;
}
setAndGetNodeParameter<std::string>(disparity_to_depth_mode_, "disparity_to_depth_mode", ""); setAndGetNodeParameter<std::string>(disparity_to_depth_mode_, "disparity_to_depth_mode", "");
disparity_to_depth_mode_ = disparity_to_depth_mode_ =
normalizeClosedSetParameterValue(logger_, "disparity_to_depth_mode", disparity_to_depth_mode_, normalizeClosedSetParameterValue(logger_, "disparity_to_depth_mode", disparity_to_depth_mode_,