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chore: Add LDP switch

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This commit is contained in:
Joe Dong
2024-06-20 17:38:47 +08:00
parent 9f98474c3c
commit af3941074c
1 changed files with 3 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
+3
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@@ -164,6 +164,9 @@ void OBCameraNode::setupDevices() {
std::string d2d_mode = is_hardware_d2d ? "HW D2D" : "SW D2D"; std::string d2d_mode = is_hardware_d2d ? "HW D2D" : "SW D2D";
RCLCPP_INFO_STREAM(logger_, "Depth process is " << d2d_mode); RCLCPP_INFO_STREAM(logger_, "Depth process is " << d2d_mode);
} }
if (device_->isPropertySupported(OB_PROP_LDP_BOOL, OB_PERMISSION_READ_WRITE)) {
device_->setBoolProperty(OB_PROP_LDP_BOOL, enable_ldp_);
}
if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) { if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, enable_laser_); device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, enable_laser_);
} }