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add enable hardware d2d

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This commit is contained in:
Joe Dong
2023-03-01 22:01:08 +08:00
parent 1b4c741edc
commit 95f40061a9
6 changed files with 13 additions and 3 deletions
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orbbec_camera/src/ob_camera_node.cpp
+5
View File
@@ -96,6 +96,10 @@ void OBCameraNode::setupDevices() {
enable_stream_[stream_index] = false;
}
}
auto info = device_->getDeviceInfo();
if(enable_hardware_d2d_ && info->pid() == GEMINI2_PID){
device_->setBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL, true);
}
}
void OBCameraNode::setupProfiles() {
@@ -259,6 +263,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<std::string>(point_cloud_qos_, "point_cloud_qos", "default");
setAndGetNodeParameter(enable_publish_extrinsic_, "enable_publish_extrinsic", false);
setAndGetNodeParameter(enable_d2c_viewer_, "enable_d2c_viewer", false);
setAndGetNodeParameter(enable_hardware_d2d_, "enable_hardware_d2d", true);
if (enable_colored_point_cloud_) {
depth_registration_ = true;
}
orbbec_camera/src/ob_camera_node_driver.cpp
+3 -1
View File
@@ -128,11 +128,13 @@ OBLogSeverity OBCameraNodeDriver::obLogSeverityFromString(const std::string_view
}
}
void OBCameraNodeDriver::checkConnectTimer() const {
void OBCameraNodeDriver::checkConnectTimer() {
if (!device_connected_.load()) {
RCLCPP_ERROR_STREAM(logger_,
"checkConnectTimer: device " << serial_number_ << " not connected");
return;
} else if (!ob_camera_node_) {
device_connected_.store(false);
}
}